1. Research and Development Center, YANMAR HOLDINGS CO., LTD., 2481, Umegahara, Maibara, Shiga, 521-8511, Japan
2. Department of Systems Innovation, The University of Tokyo, 7-3-1, Hongo, Bunkyo, Tokyo, 113-8656, Japan
3. Emeritus Professor, The University of Tokyo and Toyo University, 1-32-19, Akatsutsumi, Setagaya, Tokyo, 156-0044, Japan