1. Department of Mechanical and Industrial Engineering, University of Brescia, 25123 Brescia, Italy
2. Department of Medical and Surgical Specialties, Radiological Sciences and Public Health, University of Brescia, 25123 Brescia, Italy
3. Spedali Civili of Brescia, 25123 Brescia, Italy
4. Curtin Centre for Optimisation and Decision Science, Curtin University, Bentley, WA 6102, Australia