[1] Univ Polytech Hauts de France, CNRS, UMR 8201, LAMIH, F-59313 Valenciennes, France
[2] Univ Quebec, Ecole Technol Super, Syst Engn Dept, Prod Syst Design & Control Lab, Montreal, PQ, Canada
[3] Univ Tunis, Ecole Natl Super Ingenieurs Tunis, Lab Intelligent Robot Reliabil & Signal & Image Pr, Tunis, Tunisia
[4] INSA Hauts de France, F-59313 Valenciennes, France