1. National Engineering Laboratory for Highway Maintenance Equipment, Chang’an University, 710064 Xi’an, Shaanxi, China
2. State Key Laboratory for Manufacturing System Engineering, School of Mechanical Engineering, Xi’an Jiaotong University, 710049 Xi’an, Shaanxi, China
3. Institute of Medical and Biological Engineering, School of Mechanical Engineering, University of Leeds, Leeds LS2 9JT, UK