1. Information Systems Department, UMBC, Baltimore, MD, USA
2. Fraunhofer CESE, College Park, MD, USA
3. Dept. of Computer Science, Montana State University, Bozeman, MT, USA
4. Dept. of Computer Science, Drexel University, Philadelphia, PA, USA
5. Automatics and Informatics Dept., Politecnico di Torino, Torino, Italy