[1] Cardiff University, School of Engineering, The Parade, Cardiff CF24 3AA, United Kingdom
[2] University of Portsmouth, Dept. of Computer Science and Software Engineering, Buckingham Building, Lion Terrace, Portsmouth, PO1 3HE, United Kingdom
[3] KES International, 145-157 St. John Street, London EC1V 4PY, United Kingdom
[4] University of South Australia, School of Electrical and Information Engineering, Mawson Lakes Campus, Adelaide, SA 5095, Australia