1. Kawasaki Heavy Industries, Ltd., 1-1 Kawasaki, Akashi 673-8666, Hyogo, Japan e-mail:
2. Tokushima Bunri University, 1314-1 Shido, Sanuki 769-2193, Kagawa, Japan e-mail:
3. Mem. ASME Professor, Tokushima Bunri University, 1314-1 Shido, Sanuki 769-2193, Kagawa, Japan e-mail: