1. Department of Engineering, University of Cambridge, Cambridge, U.K.
2. Real-Time and Embedded Computing Systems Research Centre (CISTER), Porto, Portugal
3. Digital Productivity and Services Flagship, Commonwealth Scientific and Industrial Research Organization (CSIRO), Sydney, NSW, Australia
4. Department of Engineering, Division of Electrical Engineering, University of Cambridge, Cambridge, U.K.
5. Department of Electrical and Computer Engineering, Princeton University, Princeton, NJ, USA