1. Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA 02139
2. Sociotechnical Systems Research Center, Massachusetts Institute of Technology, Cambridge, MA 02139
3. Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA 02139
4. Research & Development Division, Automotive Products Research Laboratory, Hitachi America, 34500 Grand River Avenue, Farmington Hills, MI 48335
5. Advanced Development Center, Hitachi Automotive Systems Americas Inc., 34500 Grand River Avenue, Farmington Hills, MI 48335