[1] Yung Ta Inst Technol & Commerce, Dept Mech Engn, Pingtung 909, Taiwan
[2] Natl Taiwan Univ, Inst Appl Mech, Taipei 10764, Taiwan
[3] Natl Chiao Tung Univ, Dept Mech Engn, Hsinchu 300, Taiwan
[4] Feng Chia Univ, Dept Aeronaut Engn, Taichung 407, Taiwan
[5] Huafan Univ, Dept Mechatron Engn, Taipei 223, Taiwan
[6] Tatung Univ, Dept Mech Engn, Taipei 104, Taiwan