[1] Asahi Seiren Co. Ltd., 9 Oota, Yao 581-0037, Japan
[2] Kyoto Municipal Industrial Research Institute, Shimogyo-ku, 600-8813 Kyoto, Japan
[3] Graduate School of Engineering, Kyoto University, Sakyo-ku, 606-8501 Kyoto, Japan
[4] Faculty of Engineering, Kansai University, 3-3-35 Yamate-cho, 564-0073 Osaka, Japan