1. SAFE Research Centre, School of Mechanical Engineering, Sungkyunkwan University, 300 Chunchun-dong, Jangan-gu, Suwon, Kyonggi-do 440-746, Korea
2. Department of Mechanical Engineering, Korea University, 1-5 ka, Anam-dong, Sungbuk-gu, Seoul 136-701, Korea
3. School of Mechanical Engineering, Sungkyunkwan University, 300 Chunchun-dong, Jangan-gu, Suwon, Kyonggi-do 440-746, Korea
4. Department of Mechanical Engineering, Induk Institute of Technology, San 76 Wolgye-dong, Nowon-gu, Seoul 139-749, Korea