1. LEXUS Body Engineering Division, Toyota Motor Corporation, 1 Toyota-cho, Toyota, Aichi 471-8571, Japan
2. Machinery and Assembly Shop, Mitsubishi Heavy Industries, Ltd., 1-1-1 Wadasaki-cho, Hyogo-ku, Kobe 652-8585, Japan
3. Department of Mechanical Engineering, Keio University, 3-14-1 Hiyoshi, Kouhoku-ku, Yokohama 223-8522, Japan