1. Faculty of Engineering, Kanagawa University, 3-27-1 Rokkakubashi, Kanagawa-ku, Yokohama 221-8686, Japan
2. Faculty of Engineering, Niigata University, 8050 Ninocho, Ikarashi, Niigata-City, Niigata 950-2181, Japan
3. Graduate School of Frontier Sciences, The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa-shi, Chiba 277-8563, Japan
4. Cybernet Systems Co., Ltd., FUJISOFT Bldg. 3 Kanda-neribeicho, Chiyoda-ku, Tokyo 101-0022, Japan