1. Department of Electrical Engineering and Automation, Aalto University, 02150 Espoo, Finland
2. Department of Mechanical Engineering, Aalto University, 02150 Espoo, Finland
3. Smart City Center of Excellence, TalTech—Tallinn University of Technology, 19086 Tallinn, Estonia
4. College of Urban Construction, Nanjing Tech University, Nanjing 211899, China
5. School of Mechanics, Civil Engineering and Architecture, Northwestern Polytechnical University, Xi’an 710072, China