1. School of Mechanical EngineeringBeijing Institute of Technology Beijing 100081 China
2. State Key Laboratory of Automotive Simulation and Control Changchun 130025 China
3. Institute of Oceanographic InstrumentationShandong Academy of Sciences Qingdao 266001 China
4. College of Science and EngineeringRitsumeikan University Kusatsu 5258577 Japan