1. Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, 947 Heping Avenue, Wuhan 430081, China
2. Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, 947 Heping Avenue, Wuhan 430081, China
3. Department of Mechanical Engineering, Institute of Manufacturing Engineering, Tsinghua University, Beijing 100084, China