[1] South Cent Univ Nationalities, Coll Comp Sci, Wuhan 430074, Peoples R China
[2] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
[3] Simula Res Lab, N-1325 Lysaker, Norway
[4] Univ New S Wales, Australian Def Force Acad, Sch Engn & IT, Canberra, ACT 2600, Australia