1. Graduate School of Engineering, Kogakuin University, 1-24-2, Nishishinjuku, Shinjuku 163-8677, Tokyo, Japan e-mail:
2. Mem. ASME Department of Mechanical Engineering, Tokyo City University, 1-28-1, Tamazutumi, Setagaya 158-8557, Tokyo, Japan e-mail:
3. Department of Mechanical System Engineering, Kogakuin University, 1-24-2, Nishishinjuku, Shinjuku 163-8677, Tokyo, Japan e-mail:
4. Mem. ASME Department of Mechanical Engineering, Aoyama Gakuin University, Sagamihara 252-5258, Kanagawa, Japan e-mail: