1. Graduate School of Information Science and Electrical Engineering, Kyushu University,Fukuoka,Japan,819–0395
2. Institute of Mathematics for Industry, Kyushu University,Fukuoka,Japan,819–0395
3. Kyushu Institute of Technology,Department of Intelligent and Control Systems,Fukuoka,Japan,820–8502
4. Université de Toulouse, CNRS,LAAS-CNRS,Toulouse,France