1. Czech Academy of Sciences , Institute of Information Theory and Automation , Pod vodárenskou věží 4, CZ-182 08 Prague 8 , Czech Republic
2. Czech Academy of Sciences , Institute of Information Theory and Automation , Pod vodárenskou věží 4, CZ-182 08 Prague 8 ; and Faculty of Civil Engineering, Czech Technical University, Thákurova 7, CZ–166 29 Prague 6 , Czech Republic
3. Dipartimento di Scienze di Base ed Applicate per l’Ingegneria , Sapienza - Università di Roma , Via Antonio Scarpa, 16 00161 , Roma , RM Italy