1. Department of Microsystems, University of South-Eastern Norway, Kongsberg, Norway
2. Department of Technology, Kristiania University College, Oslo, Norway
3. CSRC, Department of Computer Science and Creative Technologies, University of the West of England, Bristol, U.K
4. Department of Mathematics and Computer Science, Brandon University, MB R7A 6A9, Brandon, Canada,
5. Faculty of Automatic Control, Electronics and Computer Science, Silesian University of Technology, Gliwice, Poland