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School of Information and Mechatronics, Gwangju Institute of Science and Technology, 216 Cheomdan-gwagiro, Buk-Gu, Gwangju, 500-712, Korea, Republic of School of Information and Mechatronics, Gwangju Institute of Science and Technology, 216 Cheomdan-gwagiro, Buk-Gu, Gwangju, 500-712, Korea, Republic of