[1] Tokyo Univ Sci, Dept Mech Engn, Grad Sch, Katsushika Ku, 6-3-1 Niijyuku, Tokyo 1258585, Japan
[2] Saitama Univ, Dept Mech Engn, Sakura Ku, 255 Shimo Okubo, Saitama, Saitama 3388570, Japan
[3] Tokyo Univ Sci, Dept Mech Engn, Katsushika Ku, 6-3-1 Niijyuku, Tokyo 1258585, Japan
[4] Lulea Univ Technol, Dept Engn Sci & Math, SE-97187 Lulea, Sweden