1. Graduate School of Science and Engineering, University of Toyama, Gofuku 3190, Toyama 930-8555, Japan
2. Faculty of Engineering, University of Toyama, Gofuku 3190, Toyama 930-8555, Japan
3. Department of Mechanical Systems Engineering, Toyama Prefectural University, Kurokawa 5180, Imizu, Toyama 939-0398, Japan
4. Research Organization of Science and Technology, Ritsumeikan University, Kusatsu Shiga 525-8577, Japan