Fig. 6

Two-dimensional contour maps of the cost function for region 5 in Exp. 1. Cost functions are calculated as functions of a (A5, A5–B5), b (A5, L5) and c (A5–B5, L5), while all the other frictional parameters are fixed to the optimum values. Stars indicate the locations of the optimum values. The contour intervals are set to be 0.5 in a and 1 in b, c