1. School of Metallurgy, Northeastern University, Shenyang, People's Republic of China
2. Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, China University of Mining and Technology, Xuzhou, People’s Republic of China
3. School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, People’s Republic of China
4. College of Information Science and Engineering, Northeastern University, Shenyang, People’s Republic of China