1. Department of Production Engineering, School of Engineering, University of Minho, Guimarães, Portugal
2. UNINOVA, CA3, Campus FCT/UNL, Caparica, Portugal
3. Department of Mechanical Engineering, School of Engineering, University of Minho, Guimarães, Portugal
4. School of Technology, Polytechnic Institute of Cávado e Ave, Barcelos, Portugal