1. Tokyo Metropolitan Industrial Technology Research Institute, 2-4-10, Aomi, Koto-ku, Tokyo 135-0064, Japan e-mail:
2. Tokyo Metropolitan University, 1-1 Minami-Osawa, Hachioji-shi, Tokyo 192-0397, Japan
3. Shonan Institute of Technology, 1-1-25, Nisikaigan, Tujido, Fujisawa-shi, Kanagawa 251-8511, Japan
4. Shibaura Institute of Technology, 3-9-14, Shibaura, Minato-ku, Tokyo 108-8548, Japan