1. Department of Electronics and Mechanical Engineering, Faculty of Engineering, Chiba University, 1-33, Yayoicho, Inage-ku, Chiba-shi, Chiba 263-8522, Japan
2. Department of Aerospace and Astronautical Engineering, School of Aerospace Engineering, Universita ` “La Sapienza”, di Roma, Via Eudossiana 18, 00184 Roma, Italy