1. Advanced Engineering Division, Advanced Vehicle Performance Engineering Department, Nissan Motor Co., Ltd. 1 , 1-1, Morinosato-aoyama, Atsugi, Kanagawa 243-0123, Japan
2. Research Division, Advanced Materials and Processing Laboratory, Nissan Motor Co., Ltd. 2 , 1, Natsushima, Yokosuka, Kanagawa 237-8523, Japan
3. Research Division, Prototype and Test Department, Nissan Motor Co., Ltd. 3 , 1, Natsushima, Yokosuka, Kanagawa 237-8523, Japan
4. Advanced Engineering Division, Technology Planning Department, Nissan Motor Co., Ltd. 4 , 1-1, Morinosato-aoyama, Atsugi, Kanagawa 243-0123, Japan
5. Department of Mechanical Engineering, Massachusetts Institute of Technology 5 , 77 Massachusetts Avenue, Cambridge, Massachusetts 02139, USA