1. Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China
2. Hubei Longzhong Laboratory, Xiangyang 441000, China
3. Mechanical and Mechatronic Engineering Department, University of Waterloo, 200 University Avenue West, Waterloo, ON N2L 3G1, Canada
4. Chemical Engineering Department, University of Waterloo, 200 University Avenue West, Waterloo, ON N2L 3G1, Canada