1. 1Graduate Institute of Manufacturing Technology, National Taipei University of Technology, Taipei 10608, Taiwan
2. 2Graduate Institute of Manufacturing Technology, National Taipei University of Technology, Taipei 10608, Taiwan, Fax: +886227317191
3. 3Department of Mechanical Engineering, Lunghwa University of Science and Technology, Taoyuan 33306, Taiwan
4. 4Department of Mechanical Engineering, National Taipei University of Technology, Taipei 10608, Taiwan