We thank Allah, the almighty, for granting us the strength and courage to complete our book. This project was carried out at the school of engineering, Blekinge Institute of Technology, Karlskrona, Sweden. After that We would like to give our sincere regards to Sven Johansson and Anders Hultgren and our supervisor Raja Muhammad Khurram Shahzad for their support and help. Besides that we would like to say special thanks to our families for the encouragement and motivation they provided during the hard times.