Affiliation: | a Graduate School of Information, Production and Systems, Waseda University 2-7, Hibikino, Wakamatsu-ku, Kitakyushu-shi, Fukuoka-ken 808-0135, Japan;b Department of Electrical and Computer Engineering, University of Alberta Edmonton, Alberta, Canada T6G 2V4 and Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland |