1. Interdisciplinary Graduate School of Agriculture and Engineering, University of Miyazaki, 1-1 Gakuenkibanadai-nishi, Miyazaki 889-2192, Japan
2. Technology Division, Panasonic Holdings Corporation, 3-1-1 Yagumo-naka-machi, Moriguchi City, Osaka 570-8501, Japan
3. Department of Environmental Robotics, Mechanical Systems and Informatics Course, Graduate School of Engineering, University of Miyazaki, 1-1 Gakuenkibanadai-nishi, Miyazaki 889-2192, Japan
4. Research Center for Sustainable Energy & Environmental Engineering Faculty of Engineering, University of Miyazaki, 1-1 Gakuenkibanadai-nishi, Miyazaki 889-2192, Japan