Affiliation: | a Institut de Génie Chimique, Ecole Polytechnique Fédérale de Lausanne, CH-1015 Lausanne, Switzerland b Institut d'Automatique, Ecole Polytechnique Fédérale de Lausanne, CH-1015 Lausanne, Switzerland c Novartis Services, presently Swiss Institute for the Promotion of Safety and Security, CH-4002 Basel, Switzerland |