[1] Kobe Univ, Dept Mech Engn, Kobe, Hyogo 6578501, Japan
[2] Nippon Steel & Simitomo Met Corp, Adv Technol Res Labs, Futtsu 2938511, Japan
[3] Kagoshima Univ, Dept Mech Engn, Kagoshima 8908580, Japan
[4] Kobe Univ, Grad Sch Engn, Kobe, Hyogo 6578501, Japan