[1] Toyohashi Univ Technol, Dept Mech Engn, 1-1 Hibarigaoka,Tenpaku Cho, Toyohashi, Aichi 4418580, Japan
[2] Hiroshima Inst Technol, Dept Intelligent Mech Engn, Saeki Ku, 2-1-1 Miyake, Hiroshima 7315193, Japan
[3] Tokyo City Univ, Adv Res Labs, Res Ctr Space Sci, Setagaya Ku, 8-15-1 Todoroki, Tokyo 1580082, Japan
[4] Nihon Univ, Coll Ind Technol, Dept Ind Engn & Management, 1-2-1 Izumi, Narashino, Chiba 2758575, Japan