1. Istituto Superiore Mario Boella, Turin, Italy
2. Fraunhofer Institute for Applied Information Technology (FIT), Sankt Augustin, Germany
3. Comau S.p.A., Grugliasco, Italy
4. InterSoft, a.s., Slovakia
5. Department of Computers and Informatics, Faculty of Electrical Engineering and Informatics, InterSoft, a.s., SlovakiaSlovakia