1. Professor Department of Mechanical Engineering, Fukui University of Technology, 3-6-1, Gakuen, Fukui, Fukui 910-8505, Japan e-mail:
2. Department of Mechanical Engineering, Keio University, 3-14-1, Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan e-mail:
3. Professor Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1, Ten-no-dai, Tsukuba Science, Ibaraki 305-8573, Japan e-mail:
4. Professor Emeritus Department of Mechanical Engineering, Keio University, 3-14-1, Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan e-mail: