1. Department of Electrical, Electronic and Computer Engineering, University of Pretoria, Lynwood Road, Pretoria, 0002, South Africa
2. Department of Process Engineering, Stellenbosch University, Private Bag X1, Matieland, 7602, South Africa
3. Department of Civil and Industrial Engineering, Università di Pisa, Pisa, 56126, Italy
4. HIMA Paul Hildebrandt GmbH, Albert-Bassermann-Straße 28, Brühl, 68782, Germany
5. Department of Chemical Engineering, Imperial College London, South Kensington Campus, London SW7 2AZ, U.K.