[1] Department of Automation Engineering And Institute of Mechatronoptic Systems, Chienkuo Technology University, Changhua, Taiwan
[2] Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan
[3] Department of Power Mechanical Engineering, National Formosa University, Yunlin, Taiwan
[4] Smart Machine and Intelligent Manufacturing Research Center, National Formosa University, Huwei,Yunlin, Taiwan