1. Department of Mechanical Engineering, Shizuoka University, 3-5-1 Johoku, Hamamatsu, 432, Japan
2. Institute of Manufacturing Engineering, Bldg. 425, Technical University of Denmark, DK-2800 Lyngby, Denmark
3. Department of Mechanical Engineering, Faculty of Engineering, Shizuoka University, 3-5-1 Johoku, Hamamatsu, 432, Japan