1. Graduate School of Engineering, Tohoku University, 6-6, Aoba, Aramaki, Aobaku, Sendai 980-8579, Miyagi, Japan e-mail:
2. Graduate School of Engineering, Tohoku University, 6-6, Aoba, Aramaki, Aobaku, Sendai 980-8579, Miyagi, Japan
3. Japan Aerospace Exploration Agency, 1 Koganezawa, Kakuda 981-1525, Miyagi, Japan
4. Institute of Fluid Science, Tohoku University, 2-1-1, Katahira, Aoba-ku, Sendai 980-8577, Miyagi, Japan e-mail: