1. Institute for Systems and Computer Engineering, Technology and Science Porto Portugal
2. Faculty of Engineering, University of Porto Porto Portugal
3. Centro ALGORITMI, University of Minho Guimarães Portugal
4. Center for Mechanical and Aerospace Science and Technologies, University of Beira Interior Covilhã Portugal
5. INESC Coimbra and University of Coimbra, Coimbra, Portugal
6. INESC Coimbra Coimbra Portugal