1. School of Engineering and Technology, China University of Geosciences, Beijing 10083, China
2. Key Laboratory of Deep Geological Drilling Technology of Ministry of Natural Resources, Beijing, China
3. MOE Key Lab of Petroleum Engineering, China University of Petroleum-Beijing, Beijing 102249, China
4. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109, USA
5. Department of Mechanical Engineering, University of Maryland, College Park, MD 20742, USA