1. Associate Professor Division of Mechanical Systems, Department of Mechanical and Systems Engineering, University of Hyogo, 2167 Shosha, Himeji, Hyogo 671-2201, Japan e-mail:
2. Division of Mechanical Systems, Department of Mechanical and Systems Engineering, University of Hyogo, 2167 Shosha, Himeji, Hyogo 671-2201, Japan
3. Kobelco Research Institute Inc., 1-5-5 Takatsukadai, Nishi-ku, Kobe, Hyogo 651-2271, Japan