A thesis submitted to the Nanyang Technological University in fulfillment of the requirement for the degree of Doctor of Philosophy 2015 Acknowledgments I would like to express my sincere appreciation to my supervisor, Professor Wang Danwei, and co-supervisor, Dr. Luo Ming, for their invaluable guidance, support and suggestions. I like to thank the A*STAR (Agency for Science, Technology and Research) for their financial support in form of SINGA (Singapore International Graduate Award) during my PhD studies. I also want to thank my colleagues in Singapore Institute of Manufacturing Technology (SIMTech) and Intelligent Robotics Lab of NTU, for their generous help. Last but not least, I want to thank my family, for their constant love and encouragement.