1. Research Center “E. Piaggio”, University of Pisa, Largo Lucio Lazzarino 1, 56122 Pisa, Italy
2. Department of Information Engineering (DII), University of Pisa, Via G. Caruso 16, 56122 Pisa, Italy
3. Interuniversity Center for the Promotion of 3R Principles in Teaching and Research (Centro 3R), Italy