1. Taiwan Instrumrnt Research Institute, National Applied Research Lab.,Hsinchu,Taiwan
2. National Tsing Hua University,Department of Power Mechanical Eng.,Hsinchu,Taiwan
3. National Taiwan University,Dept. of Computer Science and Information Eng.,Taipei,Taiwan
4. National Taiwan University,Department of Electrical Engineering,Taipei,Taiwan
5. National Tsing Hua University,Department of Computer Science,Hsinchu,Taiwan