[1] Wakayama Univ, Grad Sch Syst Engn, 930 Sakaedani, Wakayama 6408510, Japan
[2] Japan Soc Promot Sci, Chiyoda Ku, 5-3-1 Kojimachi, Tokyo 1020083, Japan
[3] Kobe Univ, Dept Syst Sci, Grad Sch Syst Informat, Nada Ku, Rokkodai 1-1, Kobe, Hyogo 6578501, Japan
[4] Wakayama Univ, Fac Syst Engn, 930 Sakaedani, Wakayama 6408510, Japan