1. College of Sciences, Xi’an University of Science and Technology, Xi’an, China
2. Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Detection and Control, Xi’an University of Science and Technology, Xi’an, China
3. College of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an, China
4. General Engineering Research Institute, School of Engineering, Faculty of Engineering and Technology, Liverpool John Moores University, Liverpool, UK