1. Università degli Studi di Parma, Dipartimento di Ingegneria Industriale, Parco Area delle Scienze 181/A, Parma 43124, Italy
2. Department of Mechanical Engineering, Federal University of Rio Grande do Sul, Sarmento Leite Street, Porto Alegre 425, 90.050-170, Brazil
3. School of Engineering, Federal University of Rio Grande, Italia Avenue, km 8, Rio Grande 96201-900, Brazil
4. Department of Mechanical Engineering, Federal University of Rio Grande do Sul, Sarmento Leite Street, 425, Porto Alegre 90.050-170, Brazil e-mail: