1. Department of Computer, Control and Management Engineering “Antonio Ruberti”, Sapienza University of Rome, Via Ariosto 25, 00185 Rome, Italy
2. Department of Mechanical and Aerospace Engineering, Sapienza University of Rome, Via Eudossiana 18, 00184 Rome, Italy
3. Faculty of Engineering, International Telematic University Uninettuno, Corso Vittorio Emanuele II 39, 00186 Rome, Italy