Hello Sam Sam,
I would suggest you to go through the links
http://ieeexplore.ieee.org/xpl/login.jsptp=&arnumber=6360172&url=http%3A%2F%2Fieeexplore.ieee.org%2Fstamp%2Fstamp.jsp%3Ftp%3D%26arnumber%3D6360172
http://ieeexplore.ieee.org/xpl/login.jsptp=&arnumber=4054038&url=http%3A%2F%2Fieeexplore.ieee.org%2Fstamp%2Fstamp.jsp%3Ftp%3D%26arnumber%3D4054038
http://ieeexplore.ieee.org/xpl/login.jsptp=&arnumber=6645106&url=http%3A%2F%2Fieeexplore.ieee.org%2Fstamp%2Fstamp.jsp%3Ftp%3D%26arnumber%3D6645106
Hope these will be beneficial to you.
Best Wishes
Burhan