1. College of Automation Engineering; Nanjing University of Aeronautics and Astronautics; Nanjing 210016 Jiangsu China
2. The National Science Foundation; 4201 Wilson Boulevard Arlington VA 22230 USA
3. Department of Computing and Mathematical Sciences; University of Glamorgan; Pontypridd CF37 1DL UK
4. School of Engineering and Science; Victoria University; Melbourne VIC 8001 Australia
5. School of Electrical and Electronic Engineering; University of Adelaide; Adelaide SA 5005 Australia