1. Department of Engineering “Enzo Ferrari”, University of Modena and Reggio Emilia, Via P.Vivarelli 10, Modena 41124, Italy
2. Centre InterMech MoRe, University of Modena and Reggio Emilia, V. P. Vivarelli, 2, Modena 41124, Italy
3. Department of Higher Mathematics, National Technical University “KhPI”, 2 Kyrpychova Str., Kharkov 61002, Ukraine