[1] Univ Malaya, Dept Mech Engn, Kuala Lumpur 50603, Malaysia
[2] Univ Malaya, Dept Elect Engn, Kuala Lumpur 50603, Malaysia
[3] Univ Sains Malaysia, Sch Mech Engn, Nibong Tebal 14300, Malaysia
[4] Rural Engn Coll, Dept Civil Engn, Hulkoti 582205, India