Department of Information and Communication Engineering, Faculty of Information Engineering, Fukuoka Institute of technology (FIT), 3-30-1 Wajiro-Higashi, Higashi-ku, Fukuoka 811-0295, Japan. E-ma ...;Department of Computer Science and Information Engineering, Tamkang University, 151 Ying-Chuan Road, Tamsui, Taipei, 25137, Taiwan. E-mail: hhsu@cs.tku.edu.tw;Faculty of Software and Information Science, Iwate Prefectural University, 152-52 Sugo, Takizawa, Takizawa-mura 020-0193, Iwate, Japan. E-mail: shibata@iwate-pu.ac.jp