*Kakeru Okita¹, Tomohisa Dan¹, Ichiro Asano¹, Kaoru Yamana¹, Kenzaburo Tsuzuki¹, Shun Anno¹, Arisa Nakahara¹, Hiroshi Akamatsu², Takamitsu Yoshimoto³, Motohiro Oshima⁴ (1. Graduate School of Maritime Sciences, Kobe University, 2. Department of Electrical Engineering, Kobe City College of Technology, 3. Department of Mechanical Engineering, Kobe City College of Technology, 4. Department of Mechanical Systems Engineering, Toyama Prefectural University)

*WE Lin Chan¹, Ivan CK Tam², Arun Dev³ (1. Newcastle Research and Innovation Institute (NewRIIS), 2. Newcastle University in Singapore, Newcastle University, Newcastle upon Tyne NE1 7RU, UK, 3. Newcastle University in Singapore, Newcastle University, Newcastle upon Tyne NE1 7RU, UK)