[1] Osaka Univ, Dept Syst Innovat, Grad Sch Engn Sci, 1-3 Machikaneyama, Toyonaka, Osaka 5608531, Japan
[2] Kyoto Univ, Dept Mech Engn & Sci, Grad Sch Engn, Sakyo Ku, Kyoto 6068501, Japan
[3] Tokyo Denki Univ, Dept Mech Engn, Chiyoda Ku, Tokyo 1018457, Japan
[4] Waseda Univ, Waseda Inst Adv Study, Shinjuku Ku, Tokyo 1620044, Japan