[1] Keio Univ, Grad Sch Sci & Technol, Kohoku Ku, Yokohama, Kanagawa 2238522, Japan
[2] Keio Univ, Former Grad Sch Sci & Technol, Kohoku Ku, Yokohama, Kanagawa 2238522, Japan
[3] Keio Univ, Dept Syst Design Engn, Kohoku Ku, Yokohama, Kanagawa 2238522, Japan