1. Graduate School of Engineering, Kansai University, 887-2 Yoshino, Maizuru, Kyoto 625-0003, Japan
2. High Technology Research Center (HRC), Department of Mechanical Engineering, Kansai University, 3-3-35 Yamate-cho, Suita, Osaka 564-8680, Japan
3. Department of Mechanical Engineering, Kansai University, 3-3-35 Yamate-cho, Suita, Osaka 564-8680, Japan
4. Panasonic Shikoku Electronics Co., Ltd., 2131-1, Minamigata, Toon, Ehime 791-0395, Japan