1. Faculty of Engineering Science, Kansai University, 3-3-35 Yamate-cho, Suita, Osaka, Japan
2. PRESTO, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, Saitama, Japan
3. Graduate School of System Informatics, Kobe University, Rokkodai 1-1, Nada, Kobe, Japan
4. Sigmakoki Co. Ltd., 17-2, Shimotakahagi-shinden, Hidaka-shi, Saitama, Japan
5. Institute of Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo, Japan