1. Department of Technology Education, Osaka University of Education, Asahigaoka Kashiwara City, Osaka 582-8582, Japan
2. Ibaragi Technical High School, Kasuga, Ibaragi City, Osaka 567-0048, Japan
3. Nippon Syaryo Co. Ltd., Sanbonmatu-cho, Atuta-ku, Nagoya, 456-8691, Japan
4. Department of Mechanical Engineering and Systems, Graduate School of Osaka University, Suita City, Osaka, 565-0871, Japan