1. a Department of Mechanical Engineering , College of Engineering, Nihon University , Kooriyama City , Japan
2. b Tokai Rika Co. Ltd. , Ooguchimachi , Japan
3. c Department of Mechanical System Engineering , Faculty of Engineering, Yamagata University , Yonezawa City , Japan
4. d Department of Materials Chemistry and Engineering , College of Engineering, Nihon University , Kooriyama City , Japan