1. College of Mechanical and Electronic Engineering, Northwest A&F University, No. 22, Xinong Road, Yangling, Xi’an, Shaanxi 712100, China
2. Department of Biological Systems Engineering, Washington State University, Room 105 24106 N Bunn Road, Prosser, WA, USA
3. Department of Engineering, Faculty of Engineering and Science, University of Agder, 4898 Grimstad, Norway