[1] Univ Fed Parana, Grad Program Elect Engn PPGEE, UFPR, Ave Coronel Francisco Heraclito St 100, BR-81530000 Curitiba, PR, Brazil
[2] Univ Sao Paulo, Dept Comp Sci, USP, Rua Matao,1010,Butanta, BR-05508090 Sao Paulo, SP, Brazil
[3] Univ Fed Parana, Dept Elect Engn, UFPR, Ave Coronel Francisco Heraclito Santos 100, BR-81530000 Curitiba, PR, Brazil
[4] Univ Fed Parana, Grad Program Mech Engn PGMEC, UFPR, Ave Coronel Francisco Heraclito Dos Santos 100, BR-81531980 Curitiba, Parana, Brazil