1. University of Toronto, Toronto, Ontario, Canada
2. Chongqing University and Key Laboratory of Dependable Service Computing in Cyber Physical Society (Chongqing University), Ministry of Education of P. R. China, Chongqing, China
3. Embedded Systems and CPS Lab, The Hong Kong Polytechnic University, Shenzhen, China
4. Embedded Systems and CPS Lab, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong