1. Department of Mechanical and Control Engineering, Kyushu Institute of Technology, Kitakyushu, Fukuoka, Japan
2. Department of Mechanical and Control Engineering, Faculty of engineering, Kyushu Institute of Technology, Kitakyushu, Fukuoka, Japan
3. Department of Engineering and Applied Sciences, Faculty of Science and Technology, Sophia University, Tokyo, Japan
4. Department of Mechanical Engineering, Aoyama Gakuin University, Sagamihara, Kanagawa, Japan