1. Graduate School of Engineering, Hokkaido University, Kita 13, Nishi 8, Kita-Ku, Sapporo 060-8628, Japan
2. Faculty of Engineering, Hokkaido University, Kita 13, Nishi 8, Kita-Ku, Sapporo 060-8628, Japan
3. National Institute of Technology, Tomakomai College, 443 Nishikioka, Tomakomai 059-1275, Japan