1. Faculty of Systems Design, Tokyo Metropolitan University, 6-6 Asahigaoka, Hino-shi, Tokyo 191-0065, Japan
2. Konica Minolta, Inc., 2970 Ishikawacho, Hachioji-shi, Tokyo 192-8505, Japan
3. OHB System AG, Universitätsallee 27-29, 28359 Bremen, Germany