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Dept. of Mech. and Mfg. Syst. Eng., Royal Melbourne Inst. of Technology, Bundoora East Campus, PO Box 71, Bundoora, Vic. 3083, Australia Dept. of Mech. and Mfg. Syst. Eng., Royal Melbourne Inst. of Technology, Bundoora East Campus, PO Box 71, Bundoora, Vic. 3083, Australia