1. School of Mechanical Engineering, Sungkyunkwan University, 2066 Seobu-ro, Jangan-gu, Suwon, Gyeonggi-do 440-746, South Korea
2. Department of Mechanical System Design Engineering, Seoul National University of Science and Technology, 232 Gongneung-ro, Nowon-gu, Seoul 139-743, South Korea e-mail:
3. Department of Mechanical Engineering, Korea University, 145 Anam-ro, Seongbuk-gu, Seoul 136-713, South Korea