1. Department of Electronics and Automatics Engineering, Universidad de Las Palmas de Gran Canaria, Campus de Tafira s/n, 35017 Las Palmas de Gran Canaria, Canary Islands, Spain
2. Department of Mechanical Engineering, University of Las Palmas de Gran Canaria, Campus de Tafira s/n, 35017 Las Palmas de Gran Canaria, Canary Islands, Spain
3. School of Industrial and Civil Engineering, University of Las Palmas de Gran Canaria, Campus de Tafira s/n, 35017 Las Palmas de Gran Canaria, Canary Islands, Spain