1. Japan Atomic Energy Agency, 4002 Narita, O-arai, Ibaraki 311-1393, Japan
2. Japan Atomic Energy Agency, 2-4 Shirakata-Shirane, Tokai, Ibaraki 319-1195, Japan
3. Mitsubishi Heavy Industries Mechatronics Systems, Ltd., 1-16 Komatsu-dori 5, Hyogo-ku, Kobe 652-0865, Japan
4. Osaka University, 2-1 Yamada-oka, Suita, Osaka 565-0871, Japan
5. University of Tokyo, 2-22 Shirakata-Shirane, Tokai, Ibaraki 319-1188, Japan
6. Kyushu University, Hakozaki, Higashi-ku, Fukuoka 812-8581, Japan