Department of Automation Engineering, Inha University, Inchon 402-751 and College of Pharmacy, Chung Ang University, Seoul 156-756, South Korea. khan@inha.ac.kr|Department of Automation Engineering, Inha University, Inchon 402-751 and College of Pharmacy, Chung Ang University, Seoul 156-756, South Korea. khan@inha.ac.kr|Department of Automation Engineering, Inha University, Inchon 402-751 and College of Pharmacy, Chung Ang University, Seoul 156-756, South Korea. khan@inha.ac.kr