1. Department of Electrical and Computer Engineering, Sao Carlos School of Engineering (EESC), University of Sao Paulo (USP), Sao Carlos 13566-590, Sao Paulo, Brazil
2. Department of Mechanical Engineering, Sao Carlos School of Engineering (EESC), University of Sao Paulo (USP), Sao Carlos 13566-590, Sao Paulo, Brazil
3. The National Industrial Training Service (SENAI), Sao Carlos 13574-320, Sao Paulo, Brazil