1. National Maritime Research Institute Department of Offshore Advanced Technology, , 6-38-1, Shinkawa, Mitaka, Tokyo 181-0004 , Japan
2. National Maritime Research Institute Deep Sea Technology Research Group, Department of Ocean Engineering, , 6-38-1, Shinkawa, Mitaka, Tokyo 181-0004 , Japan
3. Hokkaido University Laboratory for Flow Control, Division of Mechanical and Aerospace Engineering, Faculty of Engineering, , N13-W8, Kita-ku, Sapporo 060-8628 , Japan