[1] Univ Genoa, Polytech Sch, Via Opera Pia 15, I-16145 Genoa, Italy
[2] Univ Parma, Engn & Architecture Dept, Parco Area Sci 181-A, I-43124 Parma, Italy
[3] Inst Ciencia & Inovacao Engn Mecan & Engn Ind INE, Porto, Portugal
[4] Univ Porto, Fac Engn FEUP, Dept Engn Mecan, Porto, Portugal