1. Department of Computer Science, Aalto University, Espoo, Finland
2. Faculty of Innovation and Design, City University of Macau, Macau, People’s Republic of China
3. Department of Mechanical Engineering, Aalto University, Espoo, Finland
4. Department of Information and Communications Engineering, Aalto University, Espoo, Finland
5. Department of Mechanical Engineering, The University of Melbourne, Parkville, Australia