1. Department of Mechanical Engineering Kobe University 1-1, Rokkodai Nada Kobe 657-8501 Japan
2. Department of Mechanical Engineering Shizuoka University 3-5-1 Johoku Naka Hamamatsu 432-8561 Japan
3. Graduate School of Science and Technology Shizuoka University 3-5-1 Johoku Naka Hamamatsu 432-8561 Japan
4. Department of Mechanical Engineering Ritsumeikan University 1-1-1 Noji Higashi Kusatsu 525-8577 Japan