1. Department of Mechanical Engineering and Science, Kyoto University, Kyoto daigaku-Katsura, Nishikyo-ku, Kyoto 615-8540, Japan
2. Aviation Technology Directorate, Japan Aerospace Exploration Agency, Chofu, Tokyo 182-8522, Japan
3. Department of Mechanical Engineering, Keio University, Yokohama, Kanagawa 223-8522, Japan