1. Associate Professor Division of Mechanical Systems, Department of Mechanical and Systems Engineering, University of Hyogo 2167 Shosha, Himeji, Hyogo 671-2201, Japan;
2. JST PRESTO, Japan Science and Technology Agency, 4-1-8, Honcho, Kawaguchi, Saitama 332-0012, Japan e-mail:
3. Division of Mechanical Systems, Department of Mechanical and Systems Engineering, University of Hyogo, 2167 Shosha, Himeji, Hyogo 671-2201, Japan
4. R&D Division, ART KAGAKU Co., Ltd., 3135-20, Muramatsu, Tokai-mura, Naka-gun, Ibaraki 319-1112, Japan