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This is an Open Access Article. It is published by Elsevier under the Creative Commons Attribution 4.0 International licence (CC BY). Full details of this licence are available at https://creativecommons.org/licenses/by/4.0/
The authors acknowledge support from the EPSRC Centre for Innovative
Manufacturing in Intelligent Automation, in undertaking this research work
under grant reference number EP/IO33467/1.