1. Graduate School of Engineering, Tohoku University, Sendai 980-8577, Japan
2. Shanghai Investigation, Design & Research Institute Co., Ltd., Shanghai 200434, China
3. School of Engineering, Tohoku University, Sendai 980-8577, Japan
4. National Institute of Technology, Sendai College, Sendai 015-0055, Japan
5. Faculty of Systems Science and Technology, Akita Prefectural University, Yurihonjo 015-0055, Japan