1. College of Biological and Agricultural Engineering, Jilin University, Changchun 130022, China
2. Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
3. School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, China
4. College of Mathematics, Jilin University, Changchun 130012, China
5. School of Computing and Engineering, University of Gloucestershire, the Park, Cheltenham GL50 2RH, UK