1. Professor Mem. ASME Department of Mechanical Engineering, University of Hyogo, 2167 Shosha, Himeji 671-2280, Hyogo, Japan e-mail:
2. Department of Mechanical Engineering, University of Hyogo, 2167 Shosha, Himeji-City 671-2280, Hyogo, Japan e-mail:
3. Mem. ASME Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku-cho, Toyohashi, Aichi 441-8580, Japan e-mail: