[1] Natl Cent Univ, Dept Elect Engn, Taoyuan 32001, Taiwan
[2] Natl Changhua Univ Educ, Dept Mechatron Engn, Changhua 50074, Taiwan
[3] Asia Univ, Dept Comp Sci & Informat Engn, Taichung 41354, Taiwan
[4] Met Ind Res & Dev Ctr, Taichung 40768, Taiwan