1. Mechanical Design Engineering, Chungnam National University, Direct of BK21 Mechatronics Project Group, Daejeon 305-764, Korea
2. Mechanical Design Engineering, Chungnam National University, Daejeon 305-764, Korea
3. Agency for Defense Development, Daejeon 305-152, Korea
4. Doosan Infracore Co. Ltd., Incheon 401-020, Korea