[1] Department of Mechanical Information Science and Technology, Faculty of Computer Science and Systems Engineering, Kyushu Institute of Technology, 680-4, Kawazu, Iizuka-shi, Fukuoka,820-8502, Japan
[2] Technical Development Department Development Center, Machinery Business, KOBE STEEL, Ltd., 3-1, Shinhama 2-chome, Arai-cho, Takasago-shi, Hyogo,676-8670, Japan