Department of Information and Communication Engineering, Fukuoka Institute of Technology (FIT), 3 30 1 Wajiro-Higashi, Higashi-Ku, Fukuoka 811 0295, Japan.;Global Software Corporation, Japan.;Toyota Technological Institute, Tenpaku-Hisakata, 1-12-1 Nagoya 468-8511, Japan.;Department of Information and Communication Engineering, Fukuoka Institute of Technology (FIT), 3 30 1 Wajiro-Higashi, Higashi-Ku Fukuoka 811 0295, Japan.;Department of Computer and Information Science, Indiana University Purdue University Indianapolis, Indianapolis, IN 46202, USA