• D. Lowe and S. Murray are with the Centre for Real-Time Information Networks, University of Technology, Sydney, PO Box 123, Broadway, NSW 2007, Australia.
E-mail: email@example.com, firstname.lastname@example.org.
• E. Lindsay is with the Department of Mechanical Engineering, Curtin University of Technology, GPO Box U1987, Perth, WA 6845, Australia. E-mail: E.Lindsay@curtin.edu.au.
• D. Liu is with the University of Technology, Sydney, PO Box 123, Broadway, NSW 2007, Australia. E-mail: Dikai.Liu@uts.edu.au.
Manuscript received 19 Mar. 2009; revised 18 June 2009; accepted 3 Aug. 2009; published online 13 Aug. 2009.
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Digital Object Identifier no. 10.1109/TLT.2009.33.