1. School of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou, P.R. China;
2. Key Laboratory of Metallurgical Equipment and Control Technology, Wuhan University of Science and Technology, Wuhan, P.R. China;
3. Ministry of Education & Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, P.R. China