1. College of Mechanical and Electrical Engineering Shandong University of Science and Technology Qingdao Shandong 266590 P. R. China
2. Key Laboratory for Liquid-Solid Structural Evolution and Processing of Materials (Ministry of Education) Shandong University Jinan Shandong 250061 P. R. China
3. College of Intelligent Equipment Shandong University of Science and Technology Taian Shandong 271019 P. R. China