1. Center for Research in Mathematics and Applications (CIMA), Faculty of Exact Sciences and Engineering, University of Madeira, 9020-105 Funchal, Portugal
2. Faculty of Exact Sciences and Engineering, University of Madeira, 9020-105 Funchal, Portugal
3. Interactive Technologies Institute (ITI/LARSyS and ARDITI), Edif. Madeira Tecnopolo, Caminho da Penteada Piso-2, 9020-105 Funchal, Portugal