1. Kawasaki Heavy Industries, Ltd., Kobe, Hyogo 673-8666, Japan
2. Kawasaki Heavy Industries, Ltd., Kobe, Hyogo 650-8670, Japan
3. Mechanical Systems Engineering, Tokyo City University, Setagaya-ku, Tokyo 158-8557, Japan
4. Department of Mechanical Systems Engineering, Nagoya University, Nagoya, Aichi 464-8603, Japan