1. The Institute of Scientific and Industrial Research, Osaka University, Ibaraki 567-0047, Japan
2. Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, Suita 565-0871, Japan
3. Senju Metal Industry Co., Ltd., Tokyo 120-8555, Japan
4. Pacific Northwest National Laboratory, Richland, Washington 99354, United States
5. Institute of Metal Research, Chinese Academy of Sciences, Shenyang 110016, China