1. Department of Mechanical Systems Engineering, Muroran Institute of Technology, 27-1 Mizumoto-cho, Muroran, Hokkaido 050-8585, Japan
2. Department of Mechanical Science and Bioengineering, Osaka University, 1-3 Machikaneyama, Toyonaka 560-8531, Japan
3. Suzuki Motor Co. Ltd., 300 Takatsuka-cho, Hamamatsu 432-8611, Japan