1. Department of Mechanical Engineering, Nagaoka University of Technology, 1603-1 Kamitomioka, Nagaoka, Niigata 940-2188, Japan e-mail:
2. Department of Mechanical Engineering, Graduate School, Nagaoka University of Technology, 1603-1 Kamitomioka, Nagaoka, Niigata 940-2188, Japan
3. Engineering Department, Kamo Seiko Corporation, 1166 Kamewari, Matsuki, Toyota, Aichi 470-0424, Japan