1. Department of Mathematics, School of Mathematics and Computer Science, University of Leicester, Leicester, LE1 7RH, U.K., and Laboratory for Perceptual Dynamics, Brain Science Institute, RIKEN, Wako-shi, Saitama, 351-0198, Japan.
2. Toyota Technical Center, Ann Arbor, MI 48105, U.S.A.
3. Laboratory for Perceptual Dynamics, Brain Science Institute, RIKEN, Wako-shi, Saitama, 351-0198, Japan.