Characterization techniques for fixed-field alternating gradient accelerators and beam studies using the KURRI 150 MeV proton FFAG by Sheehy, S, Kelliher, D, Machida, S, Rogers, C, Prior, C, Volat, L, Haj Tahar, M, Ishi, Y, Kuriyama, Y, Sakamoto, M, Uesugi, T, Mori, Y