1. School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an 710048, China
2. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China
3. School of Printing, Packaging Engineering and Digital Media Technology, Xi’an University of Technology, Xi’an 710048, China
4. College of Engineering, Michigan State University, East Lansing, MI 48824, USA