1. Department of Mechanical Engineering, Aichi Institute of Technology, 1247 Yachigusa, Yagusa-cho, Toyota 470-0392, Japan
2. Nagoya Research and Development Center, Mitsubishi Heavy Industries, Ltd., 1 Takamichi, Iwatsuka-cho, Nakamura-ku, Nagoya 453-8515, Japan
3. Churyo Engineering Co., Ltd, 50-1 Kutanjo, Iwatsuka-cho, Nakamura-ku, Nagoya 453-0862, Japan