1. Polytechnic Institute of Coimbra, ISEC, Rua Pedro Nunes—Quinta da Nora, Coimbra 3030-199, Portugal;
2. ADAI-LAETA, Department of Mechanical Engineering, University of Coimbra, Polo II, Coimbra 3030-788, Portugal e-mail:
3. Mem. ASME Department of Mechanical Engineering, University of New Brunswick, P.O. Box 4400, Fredericton, NB E3B 5A3, Canada e-mail: