1. School of Information, Beijing Wuzi University, No. 1 Fuhe Street, Tongzhou District, Beijing 101149, China
2. Department of Mechanical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, S7N 5A9, Canada
3. Division of Biomedical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, Canada S7N 5A9