1. Graduate School of Engineering, Tokai University, Hiratsuka 259-1292, Japan
2. Graduate School of Science & Technology, Tokai University, Hiratsuka 259-1292, Japan
3. Faculty of Liberal Arts and Science, Tokyo City University, Yokohama 224-8551, Japan
4. Kanagawa Institute of Industrial Science and Technology (KISTEC), Ebina 243-0435, Japan
5. Laboratory of Tribology and Dynamics of Systems (LTDS), Ecole Centrale de Lyon, 69134 Ecully, CEDEX, France