1. School of Bioscience and Biotechnology, Tokyo University of Technology, 1404-1 Katakura, Hachioji 192-0982, Japan
2. Bionics Program, Tokyo University of Technology Graduate School, 1404-1 Katakura, Hachioji 192-0982, Japan
3. Mitsubishi Chemical Corporation, Aichi R&D Center, Toyohashi 440-8601, Japan