1. State Key Laboratory of Hybrid Process Industry Automation System and Equipment Technology, Automation Research and Design Institute of Metallurgical Industry; China Iron ; &; Steel Research Institute Group; Beijing; 100071; China
2. High-Tech Institute of Xi'an; Xi'an; Shanxi; 710025; China
3. State Key Laboratory of Intelligence Technology and Systems, Department of Computer Science and Technology; Tsinghua University; Beijing; 100084; China