1. Institute of Industrial Technologies and Automation, National Research Council, Bari, Italy
2. DiSTA, University of Insubria, Varese, Italy
3. DISAMIS, University of Salerno, Salerno, Italy
4. Institute of Industrial Technologies and Automation - National Research Council, Milano, Italy
5. Laboratory for Manufacturing Systems and Automation, Department of Mechanical Engineering and Aeronautics, University of Patras, Rio Patras, Greece