1. Institute of General Mechanics RWTH, Aachen University, Templergraben 64 Aachen, North Rhine-Westphalia D-52062, Germany
2. ICT and Mathematics Department, Ukrainian State Chemistry and Technology University, Gagarina ave, 8, Dnipropetrovs'k 49000, Ukraine
3. Department of Automation and Biomechanics, Technical University of Lodz, 1/15 Stefanowski Str. Lodz 90-924, Poland