[1] Univ South Wales, Fac Fac Comp Engn & Sci, Pontypridd, M Glam, Wales
[2] Nottingham Trent Univ, Sch Sci & Technol, Nottingham, England
[3] Zhengzhou Univ, Sch Elect Engn, Dept Automat, Zhengzhou, Peoples R China
[4] Edinburgh Napier Univ, Sch Engn & Built Environm, Edinburgh, Midlothian, Scotland