1. Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology Wuhan China
2. Research Center of Biologic Manipulator and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan China
3. Institute of Precision Manufacturing Wuhan University of Science and Technology Wuhan China
4. Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan China
5. School of Computing University of Portsmouth Portsmouth UK