1. Department of Mechanical Engineering, Shizuoka University, 3-5-1 Johoku, Naka-ku, Hamamatsu 432-8561, Japan
2. Department of Mechanical Engineering, Shizuoka University, 3-5-1 Johoku, Naka-ku, Hamamatsu 432-8561, Japan; School of Civil Engineering and Architecture, Wuhan Polytechnic University, Wuhan, Hubei 430023, China e-mail: