[1] Heriot Watt Univ, Sch Engn & Phys Sci, Edinburgh EH14 4AS, Midlothian, Scotland
[2] Karlsruhe Inst Technol, IMT, D-76344 Eggenstein Leopoldshafen, Germany
[3] Karlsruhe Inst Technol, LTI, D-76131 Karlsruhe, Germany
[4] Univ Edinburgh, Sch Engn, Edinburgh EH9 3JL, Midlothian, Scotland
[5] Karlsruhe Inst Technol, Inst Funct Interfaces IFG, D-76344 Eggenstein Leopoldshafen, Germany