1. School of Mechanical Engineering and Automation; Northeastern University; Shenyang 110819 P. R. China
2. Department of Mechanical Engineering; Tokyo Metropolitan University; 1-1 Minami-Osawa Hachioji-shi Tokyo 192-0397 Japan
3. State Key Laboratory of Rolling and Automation; Northeastern University; Shenyang 110819 P. R. China
4. Shanghai Baosteel Hydroforming Parts Co., Ltd; No. 188 LuoChun Rd 201908 Shanghai P. R. China