1. Graduate School of Information, Production and Systems, Waseda University, 2-7 Hibikino, Wakamatsu-ku, Kitakyushu, Fukuoka 808-0135, Japan
2. Department of Mechanical Engineering, National Chung Hsing University, No.145, Xingda Rd., South District, Taichung City 402202, Taiwan
3. Graduate School of Biomedical and Health Sciences, Hiroshima University, 1-2-3 Kasumi, Minami-ku, Hiroshima 734-8551, Japan