1. Department of Mechanical and Control Engineering, Kyushu Institute of Technology, Kitakyushu, Fukuoka, 804-8550, Japan and School of Mechanical Engineering, Qingdao Technological University, 11 Fushun Road, Qingdao 266033, P. R. China
2. Department of Mechanical and Control Engineering, Kyushu Institute of Technology, Kitakyushu, Fukuoka, 804-8550, Japan
3. School of Mechanical Engineering, Qingdao Technological University, 11 Fushun Road, Qingdao 266033, P. R. China