1. Mem. ASME Laboratory for Production Engineering, School of Mechanical and Automotive Engineering, University of Ulsan, San 29, Mugeo 2-dong, Namgu, Ulsan 680-749, South Korea e-mail:
2. Faculty of Mechanical Engineering, Nha Trang University, 2 Nguyen Dinh Chieu Str., Nha Trang City, Khanh Hoa Province 650000, Vietnam e-mail: