1. Institute for Interdisciplinary Studies on Artificial Intelligence (IRIDIA), Université Libre de Bruxelles, Brussels 1050, Belgium
2. Department of Computer Science, University of Sheffield, Sheffield, S1 4DP, UK
3. Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824-1226, USA
4. Opteran Technologies Limited, Sheffield, UK