1 Department of Electrical and Computer Engineering, Dalhousie University, Halifax, NS, Canada B3J 2X4 2 College of Electrical and Electronic Engineering, Shandong University of Technology, Zibo 255049, China 3Department of Electrical and Mechatronics Engineering, Southern Polytechnic State University, 1100 South Marietta Parkway Marietta, Marietta, GA 30060, USA 4Computer Science and Computer Engineering, La Trobe University, Melbourne, VIC 3086, Australia 5 School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai West Road 180, Weihai 264209, China