1. School of Computer Science, Zhongyuan University of Technology, Henan, China
2. School of Computing and Artificial Intelligence, Huanghuai University, Henan, China
3. Henan Key Laboratory of Smart Lighting, Henan, China
4. Henan Joint International Research Laboratory of Behavior Optimization Control for Smart Robots, Henan, China
5. Zhumadian Artificial Intelligence and Medical Engineering Technical Research Centre, Henan, China