Department of Electronic and Computer Engineering, Brunel University London, Uxbridge UB8 3PH, UK;
Electrical QRD, PM, UX, SBT Division, General Motors Korea, Incheon 403-714, South Korea;
Department of Electronic and Computer Engineering, Brunel University London, Uxbridge UB8 3PH, UK;
Northumbria School of Design, Northumbria University,Newcastle upon Tyne NE1 8ST, UK;