1. Department of Mechanical Engineering, Materials Science, and Ocean Engineering, Yokohama National University 1 , Yokohama 240-8501, Japan
2. Department of Aeronautics and Astronautics, The University of Tokyo 2 , Bunkyo-ku, Tokyo 113-8656, Japan
3. Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency 3 , Sagamihara 252-5210, Japan
4. Division of Systems Research, Yokohama National University 4 , Yokohama 240-8501, Japan