1. Institute of Vehicles and Construction Machinery Engineering, Warsaw University of Technology, Narbutta 84 Str., 02-524 Warsaw, Poland
2. Institute of Automatic Control and Robotics, Warsaw University of Technology, Sw. A. Boboli 8, 02-525 Warsaw, Poland
3. Department of Cybernetics and Biomedical Engineering, Faculty of Electrical Engineering and Computer Science, VSB–Technical University of Ostrava, 708 00 Ostrava, Czech Republic