1. School of Engineering, Newcastle University, Newcastle-upon-Tyne NE1 7RU, UK
2. Department of Computer Science, Durham University, Durham DH1 3LE, UK
3. School of Civil Engineering, University of Leeds, Leeds L62 9JT, UK
4. School of Architecture, Design & Built Environment, Nottingham Trent University, Nottingham NG1 4FQ, UK