1. Department of Mechanical Systems Engineering, Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima, 739-8527, Japan
2. The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, 801 Ferst Drive N. W. Atlanta, Atlanta, GA, 30332-0405, USA