1. The Henry and Marilyn Taub Faculty of Computer Science, Technion–Israel Institute of Technology, Haifa 3200003, Israel;
2. Graduate School of Information Science and Technology, The University of Tokyo, Tokyo 113-8656, Japan;
3. Research Institute for Mathematical Sciences, Kyoto University, Kyoto 606-8502, Japan;
4. Graduate School and Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka 819-0395, Japan