1. Institute of Technology, Shimizu Corporation, Koto , Tokyo 135-0044, Japan
2. School of Engineering, Tokyo University of Technology , Hachioji, Tokyo 192-0982, Japan
3. Department of Engineering, Nagoya Institute of Technology , Nagoya, Aichi 466-8555, Japan
4. FIRST, Tokyo Institute of Technology , Yokohama, Kanagawa 226-8503, Japan
5. Faculty of Engineering, Tokyo University of Science , Katsushika, Tokyo 125-8585, Japan