1. Centre for System Integration Engineering, School of Integrated Design Engineering; Keio University; 3-1-14-1 Kohoku Yokohama 223-0061 Japan
2. Department of System Design Engineering; Keio University; 3-1-14-1 Kohoku Yokohama 223-0061 Japan
3. Development and Regeneration, Research Institute for Frontier Medicine; Sapporo Medical University School of Medicine; S-1, W-17 Chuo-Ku Sapporo 060-8556 Japan