1. Materials Research Laboratory, Hitachi, Ltd., Hitachi, Ibaraki 317-8511, Japan
2. Consulting Engineering Department, Hitachi Engineering Co., Ltd., Hitachi, Ibaraki 317-0073, Japan
3. Hitachi Works, Hitachi, Ltd., Hitachi, Ibaraki 317-8511, Japan
4. Department of Manufacturing Science, Graduate School of Engineering, Osaka University, Suita, Osaka 565-0871, Japan