1. Faculty of Science, Yamagata University, Kojirakawa-machi 1-4-12, Yamagata 990-8560, Japan. E-mail: nakamura@sci.kj.yamagata-u.ac.jp
2. Department of Intelligent Mechanical Engineering, Faculty of Engineering, Fukuoka Institute of Technology, 3-30-1 Wajiro-higashi, Higashi-ku, Fukuoka 811-0295, Japan. E-mail: h-takeda@fit.ac.jp