1. Faculty of Informatics, Kansai University, 2-1-1, Ryozenji-cho, Takatsuki-shi, Osaka 569-1095, Japan
2. SRATECH Laboratory Inc., 1949-24, Yamakuni, Kato-shi, Hyogo 569-1095, Japan
3. Graduate School of Engineering, Tottori University, 4-101, Minami, Koyama-cho, Tottori-shi, Tottori 680-8552, Japan