[1] Univ Quebec, Prod Syst Design & Control Lab, Ecole Technol Super, Automated Prod Engn Dept, 1100 Notre Dame St West, Montreal, PQ H3C 1K3, Canada
[2] Univ Laval, Dept Operat & Decis Syst, Pavillon Palasis Prince 2325,Rue Terrasse, Quebec City, PQ G1V 0A6, Canada
[3] Univ Laval, CIRRELT, Pavillon Palasis Prince 2325,Rue Terrasse, Quebec City, PQ G1V 0A6, Canada