[1] Nagaoka Univ Technol, Mech Engn, 1603-1 Kamitomioka, Nagaoka, Niigata 9402118, Japan
[2] Univ Tokyo, Dept Aeronaut & Astronaut, 7-3-1 Hongo,Bunkyo Ku, Tokyo 1138656, Japan
[3] Nagaoka Univ Technol, Syst Safety Engn, 1603-1 Kamitomioka, Nagaoka, Niigata 9402118, Japan