1. INESC Porto, Rua do Campo Alegre, 687, 4150-179, Porto, Portugal.
2. Department of Production, University of Vaasa, P.O. BOX 700, FI-65101, Vaasa, Finland.
3. ITIA-CNR, Via Bassini 15, Milano, 20133, Italy.
4. CENI – Center of Integration and Process Innovation, Campus do IPS, Edifício da Escola Superior de Tecnologia de Setúbal, Estefanilha, Setubal, 2910-761, Portugal.