[1] Toyohashi Univ Technol, Dept Mech Engn, 1-1 Hibarigaoka Tempaku, Toyohashi, Aichi 4418580, Japan
[2] Hirosaki Univ, Dept Sci & Technol, 3 Bunkyo, Hirosaki, Aomori 0368560, Japan
[3] San Diego State Univ, Dept Mech Engn, 5500 Campanile Dr, San Diego, CA 92182 USA