Francisco Sandoval Hernández Dpto. Tecnologia Electronica Universidad de Malaga Campus de Teatinos, 29071 Malaga - Spain Email: sandoval@dte.uma.es | Jorge Miranda Dias Institute of Systems and Robotics,DEEC Polo 2 Universidade de Coimbra 3030-290 Coimbra (Portugal) Email: jorge@isr.uc.pt | |