1. School of Mechanical Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, China.
2. Institute for Materials Handling, Material Flow and Logistics, Technical University of Munich, Boltzmannstraße 15, Garching 85748, Germany.
3. Key Laboratory of Intelligent Logistics Equipment in Shanxi Province, Taiyuan University of Science and Technology, Taiyuan 030024, China.