1. School of Automation, Wuhan University of Technology, Wuhan 430070, China
2. Department of Computer Science, Faculty of Engineering and Physical Sciences, University of Surrey, Guildford GU2 7XH, UK
3. School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China
4. Wuhan Zhongyuan Electronics Group Co., Ltd., Wuhan 430205, China