Embedded and Intelligent Systems, Halmstad University, Halmstad, Sweden. denni@ide.hh.se|Embedded and Intelligent Systems, Halmstad University, Halmstad, Sweden. denni@ide.hh.se|Embedded and Intelligent Systems, Halmstad University, Halmstad, Sweden. denni@ide.hh.se|Embedded and Intelligent Systems, Halmstad University, Halmstad, Sweden. denni@ide.hh.se|Embedded and Intelligent Systems, Halmstad University, Halmstad, Sweden. denni@ide.hh.se|Embedded and Intelligent Systems, Halmstad University, Halmstad, Sweden. denni@ide.hh.se