Acknowledgements

I am grateful to Prof. Dr. Nicola Serra, for giving me the opportunity to complete my bachelor thesis under his domain.

I would also like to thank my supervisor Jonas Eschle, which advised me a lot concerning research, implementation and writing. He provided both technical and emotional guidance and helped me fulfill my potential.

Finally, I would like to thank my girlfriend Christa Schläppi, who unconditionally supported me through every challenge in the last year and acted as a sounding board for all the intelligent as well as not so intelligent ideas I had.