1. LSEE, UA, Technoparc Futura, F-62400 Bethune, France
2. Institute of Mechatronics and Information Systems, Technical University of Lodz Stefanowskiego 18/2, Lodz, Poland
3. School of Electronics and Computer Science, University of Southampton, SO17 1BJ, UK
4. Nexans, 62300 Lens, Bd de Marais, France Company/Institution, France