1. Key Laboratory of Dependable Service Computing in Cyber Physical Society Ministry of Education, Chongqing University, Chongqing, P. R. China
2. College of Automation, Chongqing University, Chongqing, P. R. China
3. Chongqing Acoustic-Optic-Electric Co. Ltd., China Electronics Technology Group, Chongqing, P. R. China
4. School of Electronics, Electrical Engineering and Computer Science, Queen’s University Belfast, Belfast, UK
5. College of Software Engineering, Chongqing University, Chongqing, P. R. China