1. Department of Mechanical Systems Engineering, Hiroshima University, 1-4-1, Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan e-mail:
2. Department of Mechanical Engineering, Aichi Institute of Technology, 1247 Yachigusa, Yakusa-cho, Toyota, Aichi 470-0392, Japan e-mail:
3. Institute of International Education and Exchange, Nagoya University, Fro-cho, Chikusa-ku, Nagoya Aichi, 464-8601 Japan e-mail: