1. IHI Corporation Shin-Nakahara-Cho, Isogo-ku 235-8501 Yokohama Japan
2. Keio University Department of Mechanical Engineering 223-8522 Yokohama Japan
3. National Institute of Advanced Industrial Science and Technology (AIST) Central 5, 1-1-1, Higashi, Tsukuba 305-85654 Ibaraki Japan