1. Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo 113-8656, Japan
2. Institute of Industrial Science (IIS), The University of Tokyo, Tokyo 153-8505, Japan
3. International Research Center for Neurointelligence (WPI-IRCN), The University of Tokyo Institutes for Advanced Study, The University of Tokyo, Tokyo 113-0033, Japan
4. Artificial Cell Membrane Systems Group, Kanagawa Institute of Industrial Science and Technology, Kanagawa 213-0012, Japan