1. School of Technology and Management (ESTiG), Polytechnic Institute of Bragança (IPB), Bragança, Portugal
2. CEFT, Faculdade de Engenharia da Universidade do Porto (FEUP), Porto, Portugal
3. Algoritmi R & D Centre, University of Minho, Braga, Portugal
4. INESC TEC – Centre for Robotics in Industry and Intelligent Systems, Porto, Portugal
5. MEtRiCS, Mechanical Engineering Department, University of Minho, Guimarães, Portugal