1. New Industry Creation Hatchery Center, Tohoku University, Sendai 980-8579, Japan
2. College of Engineering Science and Technology, Shanghai Ocean University, Shanghai 201306, China
3. Institute for Materials Research, Tohoku University, Sendai 980-8577, Japan
4. Department of Mechanical Systems Engineering, Graduate School of Engineering, Tohoku University, Sendai 980-8579, Japan
5. State Key Laboratory for Manufacturing Systems Engineering, School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710045, China
6. Laboratory of Tribology and System Dynamics, École Central de Lyon, 36 Avenue Guy de Collongue, Ecully Cedex 69134, France