1. Hitachi Research Laboratory, Hitachi Ltd., 7-1-1 Omika-cho, Hitachi-shi, Ibaraki-ken, Japan
2. Omika Works, Hitachi Ltd., Omika-cho, Hitachi-shi, Ibaraki-ken, Japan
3. Electrical Engineering Dept., Hitachi Ltd., 6, Kanda-Surugadai 4, Chiyoda-ku, Tokyo, Japan
4. Department of Urban System Engineering, Ibaraki University, 4-12, Nakanarusawa-cho, Hitachi-shi, Ibaraki-ken, Japan