1. Mem. ASME Information and Analysis Technologies Division, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya 466-8555, Japan e-mail:
2. Associate Professor Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya 466-8555, Japan
3. Graduate School of Mechanical Engineering, Nagoya Institute of Technology, Nagoya 466-8555, Japan