1. School of Electronic and Information Engineering, Zhongyuan University of Technology, Zhengzhou 450007, China
2. Department of Computing and Informatics, Bournemouth University, Poole BH12 5BB, UK
3. Zhongyuan-Peterburg Aviation College, Zhongyuan University of Technology, Zhengzhou 450007, China
4. Department of Engineering, University of Cambridge, Cambridge CB2 1PZ, UK