[1] Tomakomai National College of Technology, Tomakomai 059-1275, Japan
[2] Graduate School of Engineering, Hokkaido University, Kita-13, Nishi-8, Kita-ku, Sapporo 060-8628, Japan
[3] Division of Mechanical Science, Graduate School of Engineering
[4] Department of Mechanical Engineering, Tomakomai National College of Technology