1. Graduate Institute of Applied Science and Technology, National Taiwan University of Science and Technology, Taipei, Taiwan 10672, China
2. System Development Center, Chung-Shan Institute of Science and Technology, Taoyuan, Taiwan 32546, China
3. Professor Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 10672, China e-mail: