1. ESPOL Polytechnic University,Faculty of Mechanical and Production Sciences Engineering, FIMCP,Guayaquil,Ecuador
2. Sungkyunkwan University,Department of Mechanical Engineering,Suwon,Republic of Korea
3. ESPOL Polytechnic University,Faculty of Engineering in Electricity and Computation, FIEC,Guayaquil,Ecuador
4. Sungkyunkwan University,Robotics Engineering Research Center,Suwon,Republic of Korea