[1] Faculty of Engineering and Natural Sciences, Tampere University, Korkeakoulunkatu 6, Tampere,33720, Finland
[2] Tampere University, Finland
[3] Faculty of Information Technology and Communication, Tampere University, Korkeakoulunkatu 6, Tampere,33720, Finland
[4] Department of Functional Safety, ART S.P.A., Via Agostino da Montefeltro, 2, TO, Torino,10134, Italy