1. Department of Vehicle Development, Mazda Motor Corp., 3-1 Shinchi, Fuchu-cho, Aki-gun, Hiroshima 730-8670, Japan
2. Institute of Mathematics for Industry, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0385, Japan
3. The Institute of Statistical Mathematics, 10-3 Midori-cho, Tachikawa, Tokyo 190-8562, Japan