1. Department of Electronic Engineering and Automation, University of Las Palmas de Gran Canaria, Campus Universitario de Tafira, 35017 Las Palmas de Gran Canaria, Spain
2. Department of Computer Techniques, Technical Institute of Baquba, Middle Technical University, Baquba 00964, Iraq
3. Department of Chemical Engineering, Faculty of Engineering and Informatics, University of Bradford, Bradford BD7 1DP, UK