1. Department of Computer Science and System Engineering, University of Zaragoza, Zaragoza, Spain
2. Department of Electrical and Electronics Engineering, Sonora Institute of Technology/5 de febrero 818 sur, Cd. Obregón, Sonora, Mexico
3. Laboratory of Industrial and Human automation control, Mechanical engineering, and Computer Science (LAMIH, UMR CNRS 8201), University of Valenciennes, CNRS, UMR 8201 - LAMIH, F-59313, Valenciennes, France