1. Department of Mechanical Engineering and Intelligent Systems, Faculty of Engineering, Tohoku Gakuin University, Sendai 984-8588, Japan
2. Department of Engineering, Course of Mechanics and Robotics, National Institute of Technology (KOSEN), Nagano College, Nagano 381-8550, Japan
3. Department of Mechanical System Engineering, College of Engineering, Ibaraki University, Hitachi 316-8511, Japan
4. Japan Atomic Energy Agency, Tokai 319-1195, Japan
5. Institute for Materials Research, Tohoku University, Sendai 980-8577, Japan