1. TEMA—Centre for Mechanical Technology and Automation, Department of Mechanical Engineering, University of Aveiro, 3810-193 Aveiro, Portugal
2. LASI—Intelligent Systems Associate Laboratory, 4800-058 Guimaraes, Portugal
3. Faculdade de Engenharia, Universidade do Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal