1. Corporate Research & Development Center, Yamaha Corporation, 203 Matsunokijima, Iwata 438-0192, Japan
2. Graduate School of Engineering, Mie University, 1515 Kurimamachiya-cho, Tsu 514-0102, Japan
3. Graduate School of Information Science, Nagoya University, Chikusa-ku Furou-cho, Nagoya 464-8603, Japan