1. 1 Institute of Mechanics and Machine Building Ural Federal University, named after the first President of Russia B.N.Yeltsin Russia, 620002, Ekaterinburg, Mira str, 19, e-mail: a.a.petunin@urfu.ru
2. 2Institute of Engineering Science, Ural Branch of the Russian Academy of Sciences Russia, 620049, Ekaterinburg, Komsomolskaya str, 34, e-mail: berezin@imach.uran.ru
3. 3Computer and Automation Research Institute, Hungarian Academy of Sciences, H-1111 Budapest, Kende u, 13-17, Hungary, e-mail: kovacs.gyorgy@sztaki.hu