1. Department of Applied Mechanics, Graduate School of Mechanical Engineering, Waseda University, 3-4-1 Okubo, Shinjuku, Tokyo 169-8555, Japan
2. Waseda Research Institute for Science and Engineering (WISE), Waseda University, 3-4-1 Okubo, Shinjuku, Tokyo 169-8555, Japan
3. Meidensha Ltd., 2-8-1, Osaki, Shinagawa-ku, Tokyo 141-8565, Japan
4. EAML Engineering Co., Ltd., 10852-1, Hara, Hachihonmatsu-cho, Higashihiroshima-shi, Hiroshima 739-0151, Japan