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  \TEXT{\textbf{Acknowledgements}}
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  \TEXT{}
       {Professor Vítor Santos for his dedication and commitment to this project;}
  \TEXT{}
       {Professors Jorge Ferreira and Abílio Borges for their cooperation;}
  \TEXT{}
       {My colleagues at the automation and robotics laboratory: Eduardo Durana, Hugo Tavares, Mauro Simões, Jorge Almeida, Ricardo Pascoal, David Gameiro, Miguel Oliveira, Procópio Stein, Luís Rodrigues, Bruno Andrade and Luís Vaz who contributed with their ideas and shared their experience during this project;}
  \TEXT{}
       {My friends José Melo, Daniel Correia and Viviana Costa who were always by my side and helped me in everything they could;}
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       {My family who always encouraged and provided me with everything I needed in the pursuit of my dreams;}
  \TEXT{}
       {To everyone, thank you!}
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