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Pontificia Univ Catolica Parana, Ind & Syst Engn Grad Program, Automat & Syst Lab, PUCPR CCET PPGEPS LAS, BR-80215901 Curitiba, Parana, Brazil Pontificia Univ Catolica Parana, Ind & Syst Engn Grad Program, Automat & Syst Lab, PUCPR CCET PPGEPS LAS, BR-80215901 Curitiba, Parana, Brazil