[1]Faculty of Exact Science and Technology Federal University of Para Abaetetuba PA 68440-000 Brazil;
[2]Institute of Exact Science Federal University of Para Belem PA 68440-000 Brazil;
[3]CEMUC Faculty of Engineering of the University of Porto (FEUP) University of Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal;
[4]CEMUC Department of Mechanical Engineering Universidade of Coimbra Pinhal de Marrocos 3030-788 Coimbra Portugal;