1. Graduate School of Creative Science and Engineering, Department of Modern Mechanical Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo169-8555, Japan
2. Research and Development Division, Yoshino Denka Kogyo, Inc., Yoshikawa342-0008, Japan
3. Department of Modern Mechanical Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo169-8555, Japan
4. School of Mechanical and Aerospace Engineering, Nanyang Technological University, N3.2-01-20, 65 Nanyang Drive, 637460Singapore