1. Institute of Systems and Robotics, University of Coimbra, Pólo II, Pinhal de Marrocos, 3030-290 Coimbra, Portugal
2. Department of Mathematics, University of Trás-os-Montes and Alto Douro, Apartado 1013, 5001-801 Vila Real, Portugal
3. Department of Mathematics, University of Coimbra, Largo D. Dinis, 3001-454 Coimbra, Portugal