1. Department of Mechanical Systems Engineering, Nagoya University, Furo-cho, Nagoya 464-8603, Chikusa-ku, Japan
2. Mem. ASME Department of Mechanical Systems Engineering, Nagoya University, Furo-cho, Nagoya 464-8603, Chikusa-ku, Japan e-mail:
3. Department of Mechanical Systems Engineering, Nagoya University, Furo-cho, Nagoya 464-8603, Chikusa-ku, Japan
4. Mem. ASME Muroran Institute of Technology, 27-1 Mizumoto-cho, Muroran 050-8585, Hokkaido, Japan e-mail: