1. Department of Industrial Engineering, University of Florence, Via di Santa Marta 3, Firenze 50139, Italy e-mail:
2. Department of Aeronautical Engineering, Imperial College, South Kensington Campus, London SW7 2AZ, UK e-mail:
3. CNR-ICCOM, National Research Council of Italy, Via Madonna del Piano 10, Sesto Fiorentino 50019, Italy e-mail: