1. The University of Electro-communications Department of Mechanical and Intelligent Systems Engineering, , 1-5-1 Chofu Gaoka, Chofu-shi, Tokyo 182-8585 , Japan
2. Akiyama Mechanical Engineering Consulting , 2-7-306 Tanaka Sekiden-cho, Sakyo-ku, Kyoto-shi, Kyoto 606-8203 , Japan