1. Institute of Mechatronics and Information Systems, Lodz University of Technology , ul. Stefanowskiego 18/22, 90-924 Lodz , Poland
2. Univ. Artois, EA4025, LSEE, 62400 Bethune France , Technoparc Futura
3. Institute of Information Technology, Lodz University of Technology , ul. Stefanowskiego 18/22, 90-924 Lodz , Poland
4. Universite de Lorraine, GREEN Vandoeuvre de Nancy , France