1. Functional Control Systems, Graduate School of Engineering and Science, Shibaura Institute of Technology , Saitama , Japan
2. Systems Engineering and Science, Graduate School of Engineering and Science, Shibaura Institute of Technology , Saitama , Japan
3. Department of Bio-science and Engineering, Faculty of System Science and Engineering, Shibaura Institute of Technology , Saitama , Japan
4. Department of Biomedical and Biotechnological Sciences, University of Catania , Catania , Italy