1. State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710049, Shaanxi, China
2. School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, Shaanxi, China
3. Arts et Métiers Paris Tech, Paris 75000, France
4. School of Automation, Wuhan University of Technology, Wuhan 430070, Hubei, China