Takayuki Hirano

Permission to make digital/hard copy of part or all of this work for personal, classroom, and commercial use is granted without fee provided that appropriate credit is given (i.e. that the author's name, the title of this publication/article/web page, its URL and its date clearly appear) and that derivative works are also made available through the Creative Commons Attribution-ShareAlike Licence. See the copyright page for full details or click the 'how to cite' link above for info on how to cite this publication/article/web page.