1. Department of Mechanical Systems Engineering, Faculty of Engineering, University of the Ryukyus, 1 Senbaru, Nishihara, Nakagami-gun, Okinawa 903-0213, Japan
2. Faculty of Engineering, University of the Ryukyus, 1 Senbaru, Nishihara, Nakagami-gun, Okinawa 903-0213, Japan
3. Department of Mechanical Engineering, Faculty of Engineering, Politeknik Negeri Malang, Malang 65141, Indonesia