1. Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya 466-8555, Japan
2. Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka 819-0395, Japan
3. Graduate School of Information Science, University of Hyogo, Kobe 650-0047, Japan
4. NTT Device Innovation Center, NTT Corporation, Atsugi 243-0198, Japan