[1] Seoul Natl Univ, Dept Mech Engn, 1 Gwanak Ro, Seoul 08826, South Korea
[2] Univ Witwatersrand, Sch Mech Ind & Aeronaut Engn, Private Bag 3, ZA-2050 Johannesburg, South Africa
[3] Seoul Natl Univ, Inst Adv Machines & Design, 1 Gwanak Ro, Seoul 08826, South Korea
[4] Seoul Natl Univ, Inst Engn Res, 1 Gwanak Ro, Seoul 08826, South Korea