1. Key Laboratory for Bionic Engineering Ministry of EducationJilin University Changchun 130022 P. R. China
2. Department of Engineering MechanicsTsinghua University Beijing 100084 P. R. China
3. School of Mechanical and Aerospace EngineeringJilin University Changchun 130025 P. R. China
4. State Key Laboratory on Integrated OptoelectronicsCollege of Electronic Science and EngineeringJilin University Changchun 130012 P. R. China
5. Department of Mechanical and Materials EngineeringQueen's University Kingston K7P2P4 Canada