[1] Natl Univ Sci & Technol, Dept Mechatron Engn, Islamabad 44000, Pakistan
[2] Natl Univ Sci & Technol NUST, Dept Mechatron Engn, Islamabad 44000, Pakistan
[3] Natl Ctr Robot & Automat NCRA, Islamabad 44000, Pakistan
[4] Air Univ, Dept Mechatron Engn, Islamabad 44000, Pakistan
[5] Super Univ, Fac Engn & Technol, Lahore 54000, Pakistan
[6] Univ Edinburgh, Inst Integrated Micro & Nano Syst, Scottish Microelect Ctr, Sch Engn, Edinburgh EH9 3FF, Scotland