1. Research Organization for Next-Generation Vehicles, Waseda University, 3-4-1 Okubo, Shinjuku, Tokyo 169-8555, Japan
2. Suzuki Motor Corporation, 2-1 Sakuranamiki, Tsuzuki-ku, Yokohama-shi, Kanagawa 224-0046, Japan
3. Faculty of Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku, Tokyo 169-8555, Japan