1. Research Center for Machine Parts and Material Processing, University of Ulsan, Ulsan 680-749, Korea,
2. School of Mechanical Engineering, Pukyong National University, San 100, Yongdang-dong, Nam-gu, Pusan 608-739, Korea
3. Advanced Vehicle Dynamics Laboratory, Mechanical Engineering Department, Virginia Tech, Blacksburg, VA 24061-023, USA
4. Graduate School of Environment and Information Sciences, Yokohama National University 79-7 Tokiwadai, Hodogaya-ku, Yokohama 240-8501, Japan