1. Graduate School of Information and Computer Science, Chiba Institute of Technology,Chiba,Japan
2. Future University Hakodate,Department of Complex and Intelligent Systems,Hokkaido,Japan
3. Toho University,Department of Information Science,Chiba,Japan
4. Chiba Institute of Technology,Research Center for Mathematical Engineering,Chiba,Japan
5. School of Advanced Engineering, Kogakuin University,Tokyo,Japan
6. Tokyo City University,Department of Intelligent Systems,Tokyo,Japan
7. The University of Tokyo,International Research Center for Neurointelligence,Tokyo,Japan