1. Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 1528552, Japan
2. Enterprise Solution Division, NTT Comware Corporation, 1-6 Nakase, Mihama-ku, Chiba, 2610023, Chiba, Japan
3. Mechanical Systems Laboratory, Corporate Research & Development Center, Toshiba Corporation, 1, Komukai Toshiba-cho, Saiwai-ku, Kawasaki, 2128582, Japan
4. PC Development Center, Toshiba Corporation Parsonal Computer & Network Company, 2-9,Suehiro-cho, Ome, Tokyo, 1988710, Japan