1. Fellow ASME Professor Emeritus Graduate School of Engineering, University of Hiroshima, 1-4-1, Kagamiyama, Higashihiroshima, Hiroshima 739-8527, Japan e-mail:
2. Graduate School of Engineering, University of Hiroshima, 1-4-1, Kagamiyama, Higashihiroshima, Hiroshima 739-8527, Japan e-mail:
3. National Institute of Technology, Numazu College, 3600 Ooka, Numazu, Shizuoka 410-8501, Japan e-mail:
4. Yokogawa Electric Corporation, 155 Takamuro, Kofu 400-8558, Yamanashi, Japan e-mail: