1. Basic Mechanics Laboratory, Basic Technology Research Center, Corporate Research and Development Center, NSK Ltd., 1-5-50 Kugenuma Shinmei, Fujisawa, Kanagawa 251-8501, Japan
2. Department of Mechanical Engineering, Nagaoka University of Technology, 1603-1 Kamitomioka, Nagaoka, Niigata 940-2188, Japan