1. Department of Social Management Engineering, Graduate School of Engineering, Tottori University, Minami 4-101, Koyama, Tottori-shi, Tottori 680–8552, Japan
2. Department of Science and Engineering, Yamato University, 2-5-1 katayama-cho, Suita-shi, Osaka, 560–0082, Japan
3. Faculty of Symbiotic Systems Science, Fukushima University, Kanayagawa 1-ban, Fukushima-shi, Fukushima 960–1296, Japan