1. Key Laboratory of Urban Rail Transit Intelligent Operation and Maintenance Technology & Equipment of Zhejiang Provincial, Zhejiang Normal University, Zhejiang 321005, China
2. College of Engineering, Zhejiang Normal University, Jinhua 321004, China
3. Xingzhi College, Zhejiang Normal University, Lanxi 321100, China
4. Key Laboratory of High Efficiency and Clean Mechanical Manufacture, Ministry of Education of China, School of Mechanical Engineering, Shandong University, Jinan 250061, China