1. Department of Mechanical Engineering, Ibaraki University, 4-12-1 Nakanarusawa-cho, Hitachi-shi, Ibaraki 316-8511, Japan
2. Graduate School of Science and Engineering, Ibaraki University, 4-12-1 Nakanarusawa-cho, Hitachi-shi, Ibaraki 316-8511, Japan
3. Ibasei, Ltd., 4-7-10 Kamine-cho, Hitachi-shi, Ibaraki 317-0064, Japan