1. Department of Intelligent Automation Engineering/Graduate Institute of Precision Manufacturing, National Chin-Yi University of Technology , No. 57, Sec. 2, Zhongshan Road, Taiping District, Taichung 41170, Taiwan
2. Institute of Automation Technology, National Taipei University of Technology , No. 1, Sec. 3, Zhongxiao E Road, Taipei 10608, Taiwan