[1] Univ Nottingham, Dept Mech Mat & Mfg Engn, Univ Pk, Nottingham NG7 2RD, England
[2] Univ Warwick, Sch Engn, Coventry CV4 7AL, W Midlands, England
[3] Univ Leeds, Sch Elect & Elect Engn, Leeds LS2 9JT, W Yorkshire, England
[4] Univ Perugia, Dept Engn, Str Pentima 4, I-05100 Terni, Italy
[5] Univ Calabria, Dept Informat Modelling Elect & Syst Engn, I-87036 Arcavacata Di Rende, Italy
[6] Univ Nottingham, Fac Engn, Opt & Photon, Univ Pk, Nottingham NG7 2RD, England