1. School of Information Science and Technology; Donghua University; Shanghai 200051 China
2. Department of Computer Science; Brunel University; Uxbridge, Middlesex UB8 3PH UK
3. NAAM Research Group, Department of Mathematics; King Abdulaziz University; Jeddah 21589 Saudi Arabia
4. Institute for Automatic Control and Complex Systems; University of Duisburg-Essen; Duisburg 47057 Germany
5. College of Electrical and Information Engineering; Northeast Petroleum University; Daqing 163318 China