1. Department of Mechanical Engineering, Materials Science, and Ocean Engineering, Yokohama National University, 79-5 Tokiwadai,
Hodogaya-ku, Yokohama 240-8501, Japan
2. National Institute of Advanced Industrial Science and Technology, 1-1-1 Umezono, Tsukuba 305-8568, Ibaraki, Japan
3. Division of Systems Research, Yokohama National University, 79-5 Tokiwadai,
Hodogaya-ku, Yokohama 240-8501, Japan