1. School of Information Science and Engineering, Yanshan University, Qinhuangdao 066004, China
2. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
3. The Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province, Qinhuangdao 066004, China
4. School of Engineering and the Built Environment, Edinburgh Napier University, Edinburgh EH10 5DT, UK
5. School of Automation, Beijing Information Science & Technology University, Beijing 100101, China