[1] GIRO Technol Ctr, E-08100 Barcelona, Spain
[2] UPC, Dept Agrifood Engn & Biotechnol, E-08860 Barcelona, Spain
[3] Jozef Stefan Inst, Dept Syst & Control, Ljubljana 1000, Slovenia
[4] Univ Nova Gorica, Sch Engn & Management, Nova Gorica 5000, Slovenia