1. Control Systems Group, Electronic and Electrical Engineering, Loughborough University, Loughborough, UK
2. Birmingham Centre for Rail Research and Education, The University of Birmingham, Edgbaston, Birmingham, UK
3. Department of Engineering and Technology, Manchester Metropolitan University, Manchester, UK
4. School of Computing, Science and Engineering, The University of Salford, Salford, UK
5. School of Engineering, The University of Nottingham, University Park, Nottingham, UK