1. Department of Engineering “Enzo Ferrari” (DIEF), University of Modena and Reggio Emilia, Via Pietro Vivarelli 10, 41125 Modena, Italy
2. Ce.Ri.Col. Colorobbia Research Centre, Colorobbia Consulting S.R.L., Via Pietramarina 123, 50053 Sovigliana-Vinci, Fl orence, Italy