1. National Key Laboratory for Precision Hot Processing of Metals Harbin Institute of Technology Harbin Heilongjiang 150001 P. R. China
2. School of Materials Science and Engineering Shandong University of Science and Technology Qingdao 266590 P. R. China
3. The State Key Laboratory of Robotics and Systems Robotics Institute Harbin Institute of Technology Harbin Heilongjiang 150080 P. R. China