1. Instituto Politécnico, Universidade do Estado do Rio de Janeiro (UERJ) 1 , R. Hormindo Silva, 25-Lagoinha, Nova Friburgo - RJ 28625-570, Brazil
2. Department of Automation, Faculty of Mechanical Engineering, Lublin University of Technology 2 , Nadbystrzycka 36, 20-618 Lublin, Poland