1. Department of Architecture and the Built Environment, University of West of England Frenchay Campus, Coldharbour Ln , Stoke Gifford , Bristol , BS16 1QY , United Kingdom
2. Department of Engineering Mathematics, University of West of England Frenchay Campus, Coldharbour Ln , Stoke Gifford , Bristol , BS16 1QY , United Kingdom
3. Robotics and Automation Group, Department of Materials and Production Aalborg University , Fibigerstraede 16 , Aalborg East , DK 9220 , Denmark