[1] Department of Mechanical and Automation Engineering, I-Shou University, Kaohsiung 840, Taiwan
[2] Department of Mechanical Engineering, Tatung University, Taipei, 104, Taiwan
[3] Department of Vehicle Engineering, National Pingtung University of Science and Technology, Pingtung 912, Taiwan
[4] Department of Mechanical Engineering, National Sun Yat-sen University, Kaohsiung 804, Taiwan