1. Aihara Complexity Modeling Project, ERATO, JST, Institute of Industrial Science, University of Tokyo, 4-6-1 Komaba, Meguro-ku 153-8505, Japan
2. Inaba Research Laboratory, 1-45-1 Ekihigashi-dori, Oyama-shi 323-0022, Japan
3. Institute of Engineering Mechanics and Systems, University of Tsukuba, 1-1-1 Ten'noudai, Tsukuba-shi 305-8573, Japan
4. Institute of Industrial Science, University of Tokyo, Aihara Complexity Modeling Project, ERATO, JST, 4-6-1 Komaba, Meguro-ku 153-8505, Japan