1. Department of Mechanical Engineering, National Cheng Kung University, No. 1, University Road, Tainan City 701, Taiwan e-mail:
2. Walt Disney Imagineering, 1401 Flower Street, Glendale, CA 91201 e-mail:
3. Department of Computer Science and Engineering, University of Minnesota, 200 Union St SE, Minneapolis, MN 55455 e-mail:
4. Mem. ASME Department of Mechanical Engineering, University of Minnesota, 111 Church St SE, Minneapolis, MN 55455 e-mail: