1. Concordia University, 1455 de Maisonneuve Blvd. W., Montreal, Quebec H3G 1M8, Canada E-mail: haarslev@cse.concordia.ca
2. Racer Systems GmbH & Co. KG, Blumenau 50, 22089 Hamburg, Germany E-mail: hidde@racer-systems.com
3. School of Electrical Engineering, Computer Science, and Mathematics, Hamburg University of Technology, Schwarzenbergstr. 95, 21073 Hamburg, Germany
4. Racer Systems GmbH & Co. KG, Blumenau 50, 22089 Hamburg, Germany E-mail: wessel@racer-systems.com