1. Department of Computer Science and Information Engineering, Nanhua University, No. 55, Sec. 1, Nanhua Rd., Dalin, Chiayi 62248, Taiwan e-mail:
2. Chin Ying Machinery Co., Ltd., No. 21, Lianming Street, Bade, Taoyuan 33466, Taiwan e-mail:
3. Mem. ASME Department of Mechanical and Electro-Mechanical Engineering, National Sun Yat-Sen University, No. 70 Lienhai Rd., Kaohsiung 80424, Taiwan e-mail:
4. Department of Automation Engineering, National Formosa University, No. 64, Wunhua Rd., Huwei, Yunlin 63201, Taiwan e-mail: