1. Kyushu Institute of Technology,Faculty of Engineering,Kitakyushu,Japan,804-8550
2. Kyushu Institute of Technology,Graduate School of Life Science and Systems Engineering,Kitakyushu,Japan,808-0196
3. Kyushu Institute of Technology,Faculty of Computer Science and Systems Engineering,Iizuka,Japan,820-8502
4. Yaskawa Electric Corporation,Kitakyushu,Japan,806-0004