1. Key Laboratory of Advanced Control and Optimization for Chemical Process, Ministry of Education; East China University of Science and Technology; Shanghai 200237 China
2. School of Information Technologies; University of Sydney; Sydney NSW 2006 Australia
3. School of Computing and Mathematics; Charles Sturt University; Bathurst NSW 2795 Australia
4. School of Science and Technology; University of New England; Armidale NSW 2350 Australia