1. Department of Mechanical & Production Engineering, Tokai University, Kanagawa, 259-12, Japan
2. Department of Mechanical Engineering, School of Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo, Japan
3. Graduate School of Science & Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo, Japan