1. Mechanical Engineering Division, Graduate School of Engineering, Tohoku University , 2-1-1, Katahira, Aoba-ku, Sendai, Miyagi 980-8577, Japan
2. Kubota Corporation , 1-11, Takumi-cho, Sakai-ku, Sakai, Osaka 590-0908, Japan
3. Japan Aerospace Exploration Agency , Koganezawa 1, Kimigaya, Kakuda, Miyagi 981-1525, Japan
4. Institute of Fluid Science, Tohoku University , 2-1-1, Katahira, Aoba-ku, Sendai, Miyagi 980-8577, Japan