1. School of Mechanical, Materials, Mechatronic and Biomedical Engineering Faculty of Engineering and Information Sciences University of Wollongong Wollongong NSW 2522 Australia
2. Technology Research Institute HBIS Group Shijiazhuang 050023 Hebei P. R. China
3. Graduate School of Engineering Osaka University Osaka 565-0871 Japan
4. Hansteel Company HBIS Group Handan 056015 Hebei P. R. China