1. College of Information Science and Engineering, Yanshan University, Qinhuangdao 066004, China
2. Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province, Yanshan University, Qinhuangdao 066004, China
3. Department of Intelligence and Informatics, Konan University, Kobe 658-8501, Japan
4. Department of Networked Systems and Services, Budapest University of Technology and Economics, Budapest 1521, Hungary