[1] Gadjah Mada Univ, Fac Engn, Dept Mech & Ind Engn, Jalan Grafika 2, Yogyakarta 55281, Indonesia
[2] PT Global Meditek Utama, Dept Res & Dev, Yogyakarta 55284, Indonesia
[3] Keio Univ, Dept Mech Engn, Kohoku Ku, 3-14-1 Hiyoshi, Yokohama, Kanagawa 2238522, Japan
[4] Airlangga Univ, Fac Adv Technol & Multidiscipline, Dept Ind Engn, Surabaya 60115, Indonesia