[1] Tokyo Inst Technol, Interdisciplinary Grad Sch Sci & Engn, Yokohama, Kanagawa 227, Japan
[2] Japan Soc Promot Sci, Tokyo, Japan
[3] Tokyo Inst Technol, Precis & Intelligence Lab, Yokohama, Kanagawa 227, Japan
[4] Tokyo Metropolitan Ind Technol Res Inst, Dept Res & Dev, Tokyo, Japan