Intelligent Systems Research Centre, University of Ulster, Magee Campus, Derry~Londonderry, Northern Ireland, United Kingdom.|Intelligent Systems Research Centre, University of Ulster, Magee Campus, Derry~Londonderry, Northern Ireland, United Kingdom.|Intelligent Systems Research Centre, University of Ulster, Magee Campus, Derry~Londonderry, Northern Ireland, United Kingdom.|Intelligent Systems Research Centre, University of Ulster, Magee Campus, Derry~Londonderry, Northern Ireland, United Kingdom.|Intelligent Systems Research Centre, University of Ulster, Magee Campus, Derry~Londonderry, Northern Ireland, United Kingdom.