1. Mitsubishi Heavy Industries, Ltd., Takasago Machinery Works, 2-1-1, Shinhama, Arai, Takasago, Hyogo 676-8686, Japan
2. Osaka University, Graduate School of Engineering Science, 1-3, Machikaneyama, Toyonaka, Osaka 560-8531, Japan
3. Mitsubishi Heavy Industries, Ltd., Takasago Research & Development Center, 2-1-1, Shinhama, Arai, Takasago, Hyogo 676-8686, Japan
4. Software Cradle Co., Ltd., 6-1-1, Nishinakajima, Yodogawa, Osaka, Osaka 532-0011, Japan