1. Laboratory for MEMS Applications, IMTEK—Department of Microsystems Engineering, University of Freiburg, 79110 Freiburg, Germany
2. Intelligent Embedded Systems Laboratory, Department of Computer Science, University of Freiburg, 79110 Freiburg, Germany
3. Hahn-Schickard, 79110 Freiburg, Germany
4. Actome GmbH, 79110 Freiburg, Germany