1. Shibaura Institute of Technology,Dept. Computer Science and Engineering,Tokyo,Japan
2. Graduate School of Engineering and Science, Shibaura Institute of Technology,Tokyo,Japan
3. International Research Fellow of Japan Society for the Promotion of Science (JSPS),Shibaura Research Laboratories,Saitama City,Saitama,Japan
4. College of Engineering, Shibaura Institute of Technology,Saitama City,Saitama,Japan