1. Department of Automation and Systems Engeneering, Universidade Federal de Santa Catarina (UFSC), PPGEAS-DAS/CTC/UFSC, Florianópolis, Brazil
2. Department of Mechatronics Engineering, Divinópolis-CEFET-MG, Divinopolis, Brazil
3. LAAS - CNRS, Université de Toulouse, Toulouse, France