1. Department of Integrated Systems Engineering, The Ohio State University, 234 Baker Systems, 1971 Neil Avenue, Columbus, OH 43210, USA
2. Department of Mechanical Engineering, University of New Hampshire, 33 Academic Way, Durham, NH 03824, USA
3. Department of Mechanical Engineering, Tokyo Metropolitan University, 1-1 Minami-Osawa, Hachioji-shi, Tokyo 192-0397, Japan
4. Institute of Industrial Science, University of Tokyo, Komaba 4-6-1, Meguro, Tokyo 153-8505, Japan