1. Institute of Innovative Research, Tokyo Institute of Technology, Midori-ku, Yokohama 226-8503, Japan
2. Department of Mechanical Engineering, National Chung Cheng University, Minhsiung, Chiayi 621301, Republic of China
3. Advanced Institute of Manufacturing with High-tech Innovations, National Chung Cheng University, Minhsiung, Chiayi 621301, Republic of China