1. Mem. ASME School of Mechanical and Aerospace Engineering, Institute of Advanced Machinery and Design, Seoul National University, Building 301, Room 1405, Gwanak-Ro 1, Gwanak-Gu, Seoul 151-744, Korea e-mail:
2. Mem. ASME Hyundai WIA Co., Ltd., Uwang, Republic of Korea;
3. S/W Research Team, Hyundai Motors Research Center, Samdong, Uiwang 437-040, Korea e-mail:
4. Mem. ASME School of Mechanical and Aerospace Engineering, Institute of Advanced Machinery and Design, Seoul National University, Building 301, Room 1205, Gwanak-Ro 1, Gwanak-Gu, Seoul 151-744, Korea e-mail:
5. Mem. ASME Department of Mechanical Engineering, University of Wisconsin-Madison, 1039 Engineering Hall, 1513 University Avenue, Madison, WI 53706;
6. School of Mechanical and Aerospace Engineering, Institute of Advanced Machinery and Design, Seoul National University, Building 301, Room 1405, Gwanak-Ro 1, Gwanak-Gu, Seoul 151-744, Korea e-mails: ;