1. Mechanical Engineering, National Defense Academy, 1-10-20, Hashirimizu, Yokosuka, Kanagawa, 239-8686, Japan
2. Department of Precision Engineering, University of Tokyo, 7-3-1, Hongo, Bunkyo, Tokyo, 113, Japan
3. Industrial Technology Institute. Miyagi Prefectural Goverment, 2-2, Akira-dohri, Izumi, Sendai, 981-3206, Japan