Department of Mechanical Engineering, Kogakuin University, 2665 Nakano-machi, Hachioji, Tokyo, 192-0015 Japan. E-mail: iida@fluid.mech.kogakuin.ac.jp;Department of Mechanical Engineering, Kogakuin University, 2665 Nakano-machi, Hachioji, Tokyo, 192-0015 Japan. E-mail: iida@fluid.mech.kogakuin.ac.jp;School of Mechanical, Manufacturing and Medical Engineering, Queensland University of Technology, 2434 BRISBANE QLD 4001 Australia;Institute of Industrial Science, University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo, 153-8505 Japan