**7. Acknowledgment**

A part of this study was supported by a grant aided project for creation of new regional industry of Kansai Bureau of Economy Trade and Industry. The authors also appreciate the support by Mr. Kita, Mr. Okazawa, Mr. Kawagishi, Mr. Kido and Mr. Shiotani, Graduate School of Systems Engineering, Wakayama University, and Mr. Kitagawa and Mr. Nakatani of Hitachi Zosen Corporation.
