Department of Bio-industrial Mechatronics Engineering, National Taiwan University, Taipei, 106, Taiwan, ROC. sbb@mars.csie.ntu.edu.tw|Department of Bio-industrial Mechatronics Engineering, National Taiwan University, Taipei, 106, Taiwan, ROC. sbb@mars.csie.ntu.edu.tw|Department of Bio-industrial Mechatronics Engineering, National Taiwan University, Taipei, 106, Taiwan, ROC. sbb@mars.csie.ntu.edu.tw