1. Department of Mechanical Engineering, Akita University, Tegata Gakuen-machi, Akita City, 010-8502, Japan
2. Ishikawa Technical Center, Kashiwanoha, Kashiwa City, Chiba Prefecture 277-0882, Japan
3. Dept of Mechanical & Production Engineering, School of Engineering, Auckland University of Technology, 24 St Paul Street, Auckland City, New Zealand