1. College of Automation and Electronics Engineering; Qingdao University of Science and Technology; Qingdao 266042 China
2. School of Mathematics and Physics; Qingdao University of Science and Technology; Qingdao 266042 China
3. Department of Chemical and Materials Engineering; University of Alberta; Edmonton T6G 2G6 AB Canada
4. School of Information Engineering; Zhejiang University of Technology; Hangzhou 310023 China