1. Institute of Industrial Science (IIS), The University of Tokyo, Tokyo 153-8505, Japan e-mail:
2. Professor Institute of industrial Science (IIS), The University of Tokyo, Tokyo 153-8505, Japan e-mail:
3. Professor École polytechnique fédérale de Lausanne (EPFL), Laboratory for Hydraulic Machines, Avenue de Cour 33bis, Lausanne CH-1007, Switzerland e-mail: