1. Dept. of Mech. Engg., Tokyo Denki University, 2-2, Nishiki-cho, Kanda, Chiyoda-ku, Tokyo, 101-8457, Japan
2. Dept. of Mech. Engg., The University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan
3. Dept. of Precision Engg., Meiji University, 1-1-1, Higashimita, Tama-ku, Kawasaki, Kanagawa, 214-8571, Japan