1. Institute of Industrial Technology, Samsung Heavy Industries Co., Ltd., 103-28 Munji-dong, Yuseong-gu, Daejeon, 305-380, South Korea
2. School of Mechanical and Automotive Engineering, Kyungpook National University, 386 Gajang-dong, Sangju, Gyeongsangbuk-do 742-711, South Korea,
3. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Gusong-dong, Yuseong-gu, Daejeon, 305-701, South Korea