1. Division of Mechanical Engineering, Graduate School of Engineering, Osaka Prefecture University, 1-1 Gakuen-cho, Naka-ku, Sakai-city, Osaka 599-8531, Japan
2. Students of Graduate School of Engineering, Osaka Prefecture University, 1-1 Gakuen-cho, Naka-ku, Sakai-city, Osaka 599-8531, Japan
3. Mechanical Engineering Research Laboratory, Hitachi, Ltd, 832-2 Horiguchi, Hitachinaka-city, Ibaraki 312-0034, Japan