[1] Nagoya Inst Technol, Dept Adv Ceram, Showa Ku, Gokiso Cho, Nagoya, Aichi 4668555, Japan
[2] Nagoya Inst Technol, Dept Comp Sci, Showa Ku, Gokiso Cho, Nagoya, Aichi 4668555, Japan
[3] RIKEN, Ctr Adv Intelligence Project, Chuo Ku, 1-4-1 Nihonbashi, Tokyo 1030027, Japan
[4] Nagoya Univ, Fac Engn, Chikusa Ku, Furo Cho, Nagoya, Aichi 4648601, Japan
[5] TOAGOSEI CO LTD, Gen Ctr R&D, Minato Ku, 8 Showa Cho, Nagoya, Aichi 4550026, Japan