1. Center for Informatics and Systems of the University of Coimbra (CISUC), Department of Informatics Engineering, University of Coimbra, Coimbra, Portugal
2. Institute for Systems Engineering and Computers at Coimbra (INESC Coimbra), Department of Civil Engineering, University of Coimbra, Coimbra, Portugal
3. Centre of Technology and Systems (UNINOVA-CTS) Department of Electrical Engineering, Universidade NOVA de Lisboa, Monte de Caparica, Portugal