[1] Kyung Hee Univ, Dept Mech Engn, Coll Engn, Ind Liaison Res Inst, Yongin 449701, South Korea
[2] Kyung Hee Univ, Grad Sch Mech Engn, Yongin 449701, South Korea
[3] Gumi Elect & Informat Technol Res Inst, Gumi 730853, South Korea
[4] Univ Penn, Dept Mech Engn & Appl Mech, Philadelphia, PA 19104 USA