1. a LAS Laboratory of Automation and Systems , Pontifícia Universidade Católica do Paraná , Rua Imaculada Conceição, 1155, Prado Velho, Curitiba, PR, Brazil, CEP 80215-030
2. b Wolfson School of Mechanical and Manufacturing Engineering , Loughborough University , Loughborough, LE11 3TU, UK