1. Department of Mechanical and Production Engineering, Niigata University, Ikarashi 2-nocho 8050, Niigata 950-2181, Japan e-mail:
2. Department of Mechanical and Production Engineering, Niigata University, Ikarashi 2-nocho 8050, Niigata 950-2181, Japan
3. Institute for Research Collaboration and Promotion, Niigata University, Ikarashi 2-nocho 8050, Niigata 950-2181, Japan