1INEGI, Institute of Science and Innovation in Mechanical and Industrial Engineering, Rua Dr. Roberto Frias, 400, 4200-465, Porto, Portugal
2School of Engineering, Polytechnic of Porto (ISEP), Mechanical Engineering Department, Rua Dr. António Bernardino de Almeida, 431, 4200-072, Porto, Portugal
3Faculty of Engineering of the University of Porto, Mechanical Engineering Department, FEUP, Rua Dr. Roberto Frias, S/N, 4200-465, Porto, Portugal