1. School of Mechatronics and Information Engineering, China University of Mining and Technology-Beijing , Beijing , 100083 , China
2. Key Laboratory of Intelligent Mining and Robotics, Ministry of Emergency Management , Beijing 100083 , China
3. State Key Laboratory of Tribology in Advanced Equipment, Tsinghua University , Beijing , 100084 , China
4. National-Local Joint Engineering Laboratory for Technology of Advanced Metallic Solidification Forming and Equipment, Faculty of Material Science and Engineering, Kunming University of Science and Technology , Kunming 650093 , China