1. Department of Mechanical Engineering; National Chiao Tung University; Hsinchu 300 Taiwan, ROC
2. Chung Shan Institute of Science and Technology (CSIST); Taoyuan 325 Taiwan, ROC
3. Department of Mechanical Engineering; Chin-Yi University of Technology; Taichung 400 Taiwan, ROC
4. Department of Automation Engineering; Nan Kai University of Technology; Nantou 54243 Taiwan, ROC