[1] Department of Power Vehicle and Systems Engineering, Chung Cheng Institute of Technology, National Defense University, No.190, Sanyuan 1st St., Taoyuan 335, Taiwan
[2] Department of Computer Science Information Engineering, Nan Kai Institute of Technology, Tsao Tun 542, Taiwan
[3] Graduate School of Gerontic Technology and Service, Nan Kai Institute of Technology, 568 Chung Cheng Road, Tsao Tun 542, Taiwan