1. 1Department of Precision Mechanical Engineering, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112, Japan
2. 2Department of Industrial Engineering, Musashi Institute of Technology, 1-28-1 Tamazutsumi, Setagaya-ku, Tokyo 158, Japan
3. 3Hino Motors, Ltd., 3-1-1 Hinodai, Hino-shi, Tokyo 191, Japan