1. Department of Material Chemistry, Graduate School of Engineering, Kyoto University, Katsura, Nishikyo-ku, Kyoto 615-8510, Japan
2. School of Engineering, The University of Shiga Prefecture, Hikone 522-8533, Japan
3. Department of Mechanical and Electrical System Engineering, Faculty of Engineering, Kyoto University of Advanced Science, Ukyo-ku, Kyoto 615-8577, Japan