[1] Univ Edinburgh, Sch Informat, Inst Percept Act & Behav, Edinburgh, Midlothian, Scotland
[2] Univ Edinburgh, Sch Informat, Inst Adapt & Neural Computat, Edinburgh, Midlothian, Scotland
[3] Heriot Watt Univ, Sch Engn & Phys Sci, Edinburgh, Midlothian, Scotland
[4] Newcastle Univ, Sch Elect & Elect Engn, Newcastle, England
[5] Newcastle Univ, Inst Neurosci, Newcastle, England