[1] Korea Natl Univ Transportat, Dept Software, Chungju 27469, South Korea
[2] Korea Natl Univ Transportat, Dept Software, Dept Biomed Engn, Dept AI Robot Engn, Chungju 27469, South Korea
[3] Korea Natl Univ Transportat, Dept IT & Energy Convergence BK21 FOUR, Chungju 27469, South Korea
[4] Univ Sydney, Sch Comp Sci, Sydney, NSW 2006, Australia
[5] Gomal Univ, Inst Numer Sci, Dept Math, Dera Ismail Khan 29050, Khyber Pakhtunk, Pakistan