1. Department of Computer Science, Universitas Diponegoro, Semarang 50275, Indonesia
2. Faculty of Engineering, Universitas Diponegoro, Semarang 50275, Indonesia
3. PT Pindad, Bandung 40285, Indonesia
4. Faculty of Integrated Technologies, Universiti Brunei Darussalam, Jalan Tungku Link, Gadong BE1410, Brunei
5. Faculty of Mechanical Engineering, Opole University of Technology, 76 Proszkowska St., 45-758 Opole, Poland