Affiliation: | aSchool of Mechanical Engineering, Pukyong National University, San 100, Yongdang-dong, Nam-gu, Busan 608-739, South Korea bR & D Center, Hyosung Corporation, 454–2, Nae-dong, Changwon 641–712, South Korea cSchool of Mechanical, Manufacturing and Medical Engineering, Queensland University of Technology, GPO Box 2434, Brisbane, Qld 4001, Australia |