1. Ingeniarius, Ltd., R. Nossa Sra. Conceição 146, 4445-147 Alfena, Portugal
2. Engineering Department, School of Sciences and Technology, University of Trás-os-Montes and Alto Douro (UTAD), Quinta de Prados, 5000-801 Vila Real, Portugal
3. Institute of Electronics and Informatics Engineering of Aveiro (IEETA), University of Aveiro, 3810-193 Aveiro, Portugal
4. Intelligent Systems Associate Laboratory (LASI), University of Aveiro, 3810-193 Aveiro, Portugal
5. INESC TEC, Campus da Faculdade de Engenharia da Universidade do Porto, Rua Dr. Roberto Frias, 4200-464 Porto, Portugal