1. R&D Team, Living Appliances Division, Samsung Electronics Company, Suwon 442-742 Kyungki Do, Korea
2. Department of Mechanical Design and Production Engineering, Seoul National University, San 56-1 Shinlim-Dong, Kwanak-Ku, Seoul 151-742, Korea
3. Department of Precision Mechanical Engineering, Kangwon National University, Chunchon 200-701, Kangwon Do, Korea