1. College of Computer and Information Engineering, Tianjin Normal University, Tianjin 300387, China
2. Postdoctoral Innovation Practice Base, Huafa Industrial Share Co., Ltd., Zhuhai 519000, China
3. Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin 300384, China
4. Ping An Technology, Shenzhen 518000, China