1. Department of Mechanical Engineering, Centre for Mechanical Technology and Automation (TEMA), GRIDS Research Group, University of Aveiro, Campus Universitário de Santiago, 3810-193 Aveiro, Portugal
2. Department of Economics, Management and Industrial Engineering, University of Aveiro, Campus Universitário de Santiago, 3810-193 Aveiro, Portugal and INOVA, Water Management Company, Zona Industrial, 3064-909 Cantanhede, Portugal