1. Department of System Design Engineering, Keio University, Present Affiliation: Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency
2. Department of System Design Engineering, Keio University
3. Development Department, Toshiba Elevator and Building Systems Corporation
4. Power and Industrial Systems R&D Center, Toshiba Corporation
5. Power and Industrial Systems R&D Center, Toshiba Corporation, Present Affiliation: Department of Mechanical Design Engineering, Shonan Institute of Technology