[1] Vel Tech Multi Tech Dr Rangarajan Dr Sakunthala En, Dept Robot & Automat Engn, Chennai 600062, India
[2] Govt Coll Engn, Dept Elect & Elect Engn, Salem 636011, India
[3] Vel Tech Rangarajan Dr Sagunthala R&D Inst Sci & T, Dept Comp Sci & Engn, Chennai 600062, India
[4] Anglia Ruskin Univ, Fac Sci & Engn, Sch Comp & Informat Sci, Cambridge CB1 1PT, England