1. Department of Computer Science and Systems Engineering, Kyushu Institute of Technology, Fukuoka, 820-0067, Japan
2. Department of Interdisciplinary Informatics, Kyushu Institute of Technology, Fukuoka, 820-0067, Japan
3. Department of Computer and Information Science, Seikei University, Tokyo, 180-8633, Japan
4. Research Institute for Information Technology, Kyushu University, Fukuoka, 819-0395, Japan
5. Department of Physics and Information Technology, Kyushu Institute of Technology, Fukuoka, 820-0067, Japan