1. Department of System Design Engineering, Faculty of Engineering Science, Akita University, Akita 010-8502, Japan
2. Research & Development Department, Nippon Koki Co., Ltd., Shirakawa 961-8686, Japan
3. SANWA TEKKI CORPORATION, 6-4-6 Minami-Shinagawa, Shinagawa-ku, Tokyo 140-8669, Japan