1. Postgraduate Program in Instrumentation, Control and Automation of Mining Processes, Federal University of Ouro Preto, Ouro Preto 35400-000, Brazil
2. Department of Exact and Technological Sciences, State University of Southwest Bahia, Vitória da Conquista 45083-900, Brazil
3. Computer Science Department, Federal University of Minas Gerais, Belo Horizonte 31270-901, Brazil
4. Institute of Mathematical and Computer Sciences, University of São Paulo, São Carlos 13566-590, Brazil
5. Vale Technological Institute, Ouro Preto 35400-000, Brazil