1. Computer Sciences Department, Instituto Nacional de Astrofísica, Óptica y Electrónica (INAOE), Puebla, Mexico
2. Mechatronics Section, on sabbatical leave at the Mechanical Engineering Department, Dynamics and Control Group, Eindhoven University of Technology, 5612 AZ Eindhoven, Centro de Investigación y Estudios Avanzados (Cinvestav), Mexico City, The Netherlands
3. Chair of Medical Engineering, Helmholtz Institute for Biomedical Engineering, RWTH Aachen University, Aachen, Germany
4. Electrical Engineering Division, Universidad Nacional Autónoma de México (UNAM), Mexico City, Mexico