[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
[2] Nanyang Technol Univ, Sch Elect & Elect Engn, Div Comp Engn, Singapore 639798, Singapore
[3] Univ Birmingham, Dept Elect & Comp Engn, Birmingham B15 2TT, W Midlands, England