1. Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science & Technology, Wuhan, China
2. Key Laboratory of Metallurgical Equipment and Control Technology, Wuhan University of Science & Technology, Wuhan, China
3. College of Engineering and Technology, Southwest University, Chongqing, China
4. Institute of mechanical and manufacturing engineering, School of Engineering, Cardiff University, Cardiff, United Kingdom