[1] Kanazawa Univ, Inst Sci & Engn, Kanazawa, Ishikawa 9201192, Japan
[2] Ind Res Inst Ishikawa, 2-1 Kuratsuki, Kanazawa, Ishikawa 9208203, Japan
[3] YAMAHA MOTOR Co Ltd, 2500 Shingai, Iwata, Shizuoka 4388501, Japan
[4] Takamatsu Machinery Co Ltd, Tech Div, 1-8 Asahigaoka, Haku San, Ishikawa 9258558, Japan
[5] Kanazawa Inst Technol, Dept Mech Engn, 3-1 Yatsukaho, Haku San, Ishikawa 9240838, Japan