[1] Hohai Univ, Dept Engn Mech, Nanjing 210098, Jiangsu, Peoples R China
[2] Tokyo Inst Technol, Dept Mech & Environm Informat, Meguro Ku, 2-12-1-W8-22 Ookayama, Tokyo 1528552, Japan
[3] Tokyo Inst Technol, Dept Mech & Control Engn, Tokyo 1528552, Japan
[4] Livermore Software Technol Corp, Livermore, CA 94550 USA
[5] Le Quy Don Tech Univ, Dept Mech, 236 Hoang Quoc Viet, Hanoi, Vietnam
[6] Hiroshima Univ, Grad Sch Engn, Hiroshima 730, Japan