1. a Department of Mechanical Engineering , Chiang Mai University , Chiang Mai , Thailand
2. b Department of Mechanical Engineering , Naresuan University , Phitsanulok , Thailand
3. c Department of Mechanical Engineering , Rajamangala University of Technology Lanna Northern Campus , Chiang Mai , Thailand
4. d Department of Mechanical Engineering , Chiang Mai University , Chiang Mai , 50200 , Thailand
5. e Graduate School of System and Information Engineering , University of Tsukuba , Tsukuba , Ibaraki , Japan