I. Introduction
The rapid development of information technology requires a large amount of data to be stored and processed. This provides a strong incentive to develop data storage devices with high capacity and speed. Although many alternative data storage devices have been developed recently, hard disk drives (HDDs), which possess several advantages, such as low price in terms of cost per bit, large storage capacity and capability to maintain data without power consumption, still attract great attention. For example, in 2005, Toshiba introduced HDDs with 180 capacity [1]; in 2006, Seagate first demonstrated HDDs with a 421 areal density [2]; recently, the researchers at Data Storage Institute (Singapore) have set a new target for the next-generation of HDD with an ultra-high recording density of 10 [3]. Undoubtedly, this drastic increase in storage capacity and speed poses great challenges to the design and manufacture of high-performance HDDs.