1. MAQLAB Research Group, Mechanical Engineering Department, University Carlos III de Madrid, 28911 Leganés, Spain
2. Pedro Juan de Lastanosa Research Institute, 28911 Leganés, Spain
3. MAQLAB Research Group, Depaertment of Mechanics, Universidad Nacional de Educación a Distancia, 28040 Madrid, Spain
4. Industrial Engineering Department, University of Bologna, 40136 Bologna, Italy