1. Department of Applied Science for Integrated System Engineering, Kyushu Institute of Technology, 1-1 Senshuimachi, Tobata, Kitakyushu-city, Fukuoka 804-8550, Japan
2. Department of Electrical and Electronic Engineering, Kitakyushu National College of Technology, 5-20-1 shii, Kokuraminami, Kitakyushu-city, Fukuoka 802-0985, Japan
3. Advanced Vehicle Manufacturing and Prototype Technology Department, Nissan Motor Co., Ltd., 560-2, Okatsukoku, Atsugi-city, Kanagawa 243-0192, Japan
4. Graduate School of Advanced Technology, Kinki University, Iizuka-city, Fukuoka 820-8555, Japan