1. Nottingham Ningbo China Beacons of Excellence Research and Innovation Institute, University of Nottingham Ningbo China, Ningbo, People’s Republic of China
2. Faculty of Science and Engineering, University of Nottingham Ningbo, Ningbo, People’s Republic of China
3. Robotics Institute of NBUT, Ningbo University of Technology, Ningbo, People’s Republic of China
4. Faculty of Mechanical Engineering & Mechanics, Ningbo University, Ningbo, People’s Republic of China
5. Zhejiang Provincial Key Lab of Part Rolling Technology, Ningbo University, Ningbo, People’s Republic of China
6. Faculty of Engineering, University of Nottingham, Nottingham, UK