1. Department of Mechanical Engineering, Yokohama National University, Yokohama 240-8501, Japan
2. Tokyo University of Science, Suwa, Chino 391-8502, Japan
3. Department of Mechanical Engineering, Faculty of Science and Technology, Tokyo University of Science, Noda 278-8510, Japan
4. Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, Tsukuba 305-8505, Japan