I would like to thank everyone who supported me during this thesis. This
includes but is not limited to Rinus and Pieter for the supervision and weekly
meetings. Bas, for providing \gls{iTasks} insight. Arjan, for sparring and
coffee and George, Camil and Roy for proofreading the thesis. Finally, I would
like to thank my family, friends and wife for listening to my year of endless
rambling on the subject.
