1. Department of Information Science, Kyushu Sangyo University, Fukuoka 813-8503, Japan
2. The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong
3. Department of Artificial Intelligence, Kyushu Institute of Technology, Iizuka, Fukuoka 820-8502, Japan
4. Graduate School of Informatics, Nagoya University, Nagoya 464-8601, Japan