1. Research Institute of Electrical Communication, Tohoku University 1 , Sendai 980-8577, Japan
2. Department of Computer Science and Engineering, University of Aizu 2 , Aizu-Wakamatsu 965-8580, Japan
3. Frontier Research Institute for Interdisciplinary Studies, Tohoku University 3 , Sendai 980-8577, Japan
4. Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute 4 , Troy, New York 12180, USA