1. Faculty of Engineering, Osaka Electro-Communication University, 18-8, Hatsu-cho, Neyagawa 572-8530, Japan e-mail:
2. Faculty of Science and Engineering, Setsunan University, 17-8, Ikeda-nakamachi, Neyagawa 572-8508, Japan e-mail:
3. Mitsubishi Heavy Industries, 1-1, Niihama 2-chome, Arai-cho, Takasago 676-8686, Japan e-mail:
4. Mitsubishi Heavy Industries, 1-1, Wadasaki-cho 1-chome, Hyogo-ku, Kobe 652-8585, Japan e- mail: