1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Luoyu Road 1037, Wuhan, China
2. Department of Mechanical Engineering, University of Auckland, Auckland 1142, New Zealand
3. The State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science & Technology, Luoyu Road 1037, Wuhan, China
4. School of Mechanical Engineering and School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK