1. Department of Production, Information and Systems Engineering, Tokyo Metropolitan Institute of Technology, Hino, Tokyo 191-0065, Japan
2. University of Kuopio, Department of Neuroscience and Neurology, FIN-70211 Kuopio, Finland
3. Kyushu Institute of Technology, Iizuka, Fukuoka 820, Japan
4. Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyusha 808-0916, Japan