1. State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing 100044, China
2. School of Traffic and Transportation, Beijing Jiaotong University, Beijing 100044, China
3. Department of Mechanical Engineering, University of Alberta, Edmonton, AB, Canada T6G 2R3
4. School of Automation, Nanjing University of Science and Technology, Nanjing, Jiangsu 210094, China
5. School of Mechanical Engineering, Southwest Jiaotong University, Chengdu, Sichuan 610031, China