[1] Univ Manchester, Dept Math, Manchester, Lancs, England
[2] Seoul Natl Univ, Sch Mech & Aerosp Engn, Seoul, South Korea
[3] Kumoh Natl Inst Technol, Dept Mech Syst Engn, Gyeongbuk 39177, South Korea
[4] Kumoh Natl Inst Technol, Dept Mech Design Engn, Gyeongbuk 39177, South Korea