1. Division of Electrical Engineering and Computer Science, Kanazawa University, Kanazawa 920-1192, Japan
2. Faculty of Electrical, Information and Communication Engineering, Kanazawa University, Kanazawa 920-1192, Japan
3. Kanazawa Engineering System Inc., Kanazawa 920-1158, Japan
4. College of Information Science and Technology, Eastern Institude of Technology, No. 568, Tongxin Road, Ningbo 315200, China
5. Faculty of Engineering, University of Toyama, Toyama 930-8555, Japan