1. Portuguese Military Academy, Rua Gomes Freire, 1169-203 Lisbon, Portugal
2. Instituto Superior Técnico, Universidade de Lisboa, 1049-001 Lisbon, Portugal
3. Military Academy Research Center (CINAMIL), Rua Gomes Freire, 1169-203 Lisbon, Portugal
4. Laboratory for Instrumentation, Biomedical Engineering and Radiation Physics (LIBPhys-UC), 3000-370 Coimbra, Portugal
5. Institute for Systems and Robotics (ISR/IST), 1049-001 Lisbon, Portugal