[1] Hiroshima Natl Coll Maritime Technol, Dept Maritime Technol, Hiroshima 7250231, Japan
[2] Hiroshima Natl Coll Maritime Technol, Dept Elect Control Engn, Hiroshima 7250231, Japan
[3] Hiroshima Univ, Dept Mech Syst Engn, Higashihiroshima 7398527, Japan