1. Office of Society-Academia Collaboration for InnovationKyoto University Gokasho, Uji Kyoto 611-0011 Japan
2. Research & Development GroupHitachi Ltd. 1-1, Omika-cho 7-chome Hitachi Ibaraki 319-1292 Japan
3. Office of Society-Academia Collaboration for InnovationKyoto University, Katsura, Nishikyo Kyoto 615-8530 Japan E-mail: (T. Minato
4. Graduate School of EngineeringKyoto University, Nishikyo-ku Kyoto 615-8510 Japan E-mail: (T. Abe