1. Product Innovation Department, Hyogo Prefectural Institute of Technology, 3-1-12, Yukihira-cho, Suma-ku, Kobe, Hyogo, 654-0037, Japan
2. Department of Mechanical Engineering, Faculty of Science and Engineering, Ritsumeikan University, 1-1-1, Nojihigashi, Kusatu-shi, Shiga, 525-8577, Japan
3. KYOCERA SLC Technologies Corporation, 656, Ichimiyake, Yasu-cho, Yasu-gun, Shiga, 520-2362, Japan
4. IBM Japan, Ltd. Yasu, 800, Ichimiyake, Yasu-cho, Yasu-gun, Shiga, 520-2392, Japan