1. School of Electrical Engineering and Computer Science; University of Newcastle; Callaghan NSW 2308 Australia
2. School of Mechanical Science and Engineering and the State Key Lab of Digital Manufacturing Equipment and Technology; Huazhong University of Science and Technology; Wuhan 430074 P.R. China
3. School of Software and Electrical Engineering; Swinburne University of Technology; Melbourne VIC 3122 Australia
4. School of Automation, the Key Laboratory of Image Processing and Intelligent Control and the State Key Lab of Digital Manufacturing Equipment and Technology; Huazhong University of Science and Technology; Wuhan 430074 China
5. School of Mechanical Science and Engineering and the State Key Lab of Digital Manufacturing Equipment and Technology; Huazhong University of Science and Technology; Wuhan 430074 China