[1] Hitachi Ltd, Ind Prod Co, Kita Ku, 3-18 Nakanoshima 2 Chome, Osaka 5300005, Japan
[2] Ritsumeikan Univ, Res Org Sci & Engn, 1-1-1 Nojihigashi, Kusatsu, Shiga 5258577, Japan
[3] Lehigh Univ, Dept Mech Engn & Mech, 19 Mem Dr West, Bethlehem, PA 18015 USA
[4] Toyama Univ, Fac Engn, 3190 Gofuku, Toyama 9308555, Japan
[5] Toyota Coll, Natl Inst Technol, 2-1 Eisei Cho, Toyota, Aichi 4718525, Japan
[6] Ritsumeikan Univ, Coll Sci & Engn, 1-1-1 Nojihigashi, Kusatsu, Shiga 5258577, Japan
[7] Kobe Univ, Fac Engn, Nada Ku, 1-1 Rokko Dai, Kobe, Hyogo 6578501, Japan
[8] Akashi Coll, Natl Inst Technol, Akashi, Hyogo 6748501, Japan