1. Department of Industrial Engineering and Mathematical Sciences, Università Politecnica delle Marche, Via Brecce Bianche, 12, 60131 Ancona, Italy
2. School of Design and Creative Arts, Loughborough University, Loughborough LE11 3TU, UK
3. Department of Industrial, Electronic and Mechanical Engineering, Università degli Studi Roma Tre, Via della Vasca Navale, 79, 00146 Roma, Italy