Andrés Velastegui-Montoya, Isabel Adriana Chuizaca-Espinoza, Carlos Alberto Falquez-Chávez, Maribel Aguilar-Aguilar, ESPOL Polytechnic University, Ecuador; Dimitri Bulatov, Fraunhofer IOSB, Germany; Paúl Carrión-Mero, ESPOL Polytechnic University, Ecuador