1. Department of Mechanical Engineering, Saitama University, Shimo-Okubo 25, Sakura-ku, Saitama-shi, Saitama 338-8570, Japan
2. Former Graduate School of Integrative Science and Engineering, Tokyo City University, 1-28-1, Tamazutumi, Setagaya, Tokyo 158-8557, Japan
3. Former Graduate School of Engineering, Kogakuin University, 1-24-2, Nishishinjuku, Shinjuku, Tokyo 163-8677, Japan
4. Department of Mechanical Engineering, Tokyo City University, 1-28-1, Tamazutumi, Setagaya, Tokyo 158-8557, Japan
5. Department of Mechanical System Engineering, Kogakuin University, 1-24-2, Shinjuku, Nishishinjuku, Tokyo 163-8677, Japan
6. Department of Mechanical Engineering, Aoyama Gakuin University, Sagamihara, Kanagawa 252-5258, Japan