1. Department of Mechanical and Automation Engineering, Chung Chou University of Science and Technology, Changhua County 51003, Taiwan
2. Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ 07030-5991, USA
3. Department of Engineering Science and Ocean Engineering, National Taiwan University, Taipei 10617, Taiwan
4. Department of Mechatronics and Control Science, University of Rzeszow, 35310 Rzeszow, Poland