1. Institute of Intelligent and Software Technology, Hangzhou Dianzi University, Hangzhou 310018, China
2. Hangzhou Yiyitaidi Information Technology Co., Ltd., Hangzhou 310000, China
3. Beijing Research Institute of Automation for Machinery Industry Co., Ltd., Beijing 100120, China
4. Institut f. Automation und Kommunikation, Magdeburg 39106, Germany