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-----------------------------
 $BCfEg!!5a(B                   Motomu Nakashima
 $BEl5~9)6HBg3X(B $B5!3#2J3X2J(B    Dept. of Mech. Eng.& Science
 $B1?F0@)8f3X9V:B(B             Tokyo Institute of Technology
 mnakashi@o.cc.titech.ac.jp