1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
2. School of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL, UK
3. Key Laboratory of Bionic Engineering of Ministry of Education, Jilin University, Changchun 130022, China
4. School of Computing, Science and Engineering, University of Salford, Manchester M5 4WT, UK