1. Department of Mechanical and Intellectual Systems EngineeringUniversity of Toyama, Gofuku 3190, Toyama Prefecture 9308555, Japan
2. Department of Mechanical EngineeringKyushu University, Moto-oka 744, Fukuoka Prefecture 8190395, Japan
3. Department of Mechanical Systems EngineeringThe University of Shiga Prefecture, Hassaka-cho 2500, Shiga Prefecture 5228533, Japan
4. Yosinori Industry Ltd, Ohwada 1-2-23, Osaka Prefecture 5550032, Japan