1. Department of Engineering Science and Mechanics, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan
2. Department of Electrical Engineering, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan
3. Department of Mechanical and Industrial Engineering, Universitas Gadjah Mada, Bulaksumur Yogyakarta 55281, Indonesia