1. Mechanics and Electronics Research Institute, Fukuoka Industrial Technology Center, 3-6-1 Norimatsu, Yahatanishi-ku, Kitakyushu 807-0831, Japan
2. Department of Mechanical Engineering and Science, Graduate School of Engineering, KyotoUniversity, Yoshida-Honmachi, Sakyo-ku, Kyoto 606-8501, Japan
3. Department of Electronics Engineering and Computer Science, Fukuoka University, 8-19-1 Nanakuma, Jonan-ku, Fukuoka 814-0180, Japan