Department of Computer and Information Science, Norwegian University of Science and Technology, NO-7052, Trondheim, Norway. tony.handstad@gmail.com|Department of Computer and Information Science, Norwegian University of Science and Technology, NO-7052, Trondheim, Norway. tony.handstad@gmail.com|Department of Computer and Information Science, Norwegian University of Science and Technology, NO-7052, Trondheim, Norway. tony.handstad@gmail.com