1. a Weapons Systems Division , Defence Science and Technology Organisation , P.O. Box 1500, Edinburgh , 5111 , South Australia , Australia
2. b Département de Génie Mécanique , École Polytechnique de Montréal , Montréal , Québec , Canada
3. c Department of Information and Systems Engineering, School of Engineering , Kyushu Tokai University , Toroku , Kumamoto , Japan