1. Department of Mechanical Design & Production Engineering, Seoul National University, San 56-1 Shilim-dong, Kwanak-gu, Seoul, 151-742, Korea
2. Hyundai Motor Co. Research Institute, San1-1, Mabook-ri, Kusung-myun, Yong-in-shi, Kyonggi-do, 449-910, Korea; Department of Mechanical Design & Production Engineering, Seoul National University, San 56-1 Shilim-dong, Kwanak-gu, Seoul, 151-742, Korea