1. School of Mechanical Engineering, China University of Mining and Technology, Xuzhou 221116, China
2. Shandong Jiaotong College Mechanical Equipment Technology Company, Jinan 250031, China
3. State Key Laboratory for Manufacturing System Engineering, Xi’an Jiaotong University, Xi’an 710049, China
4. Joining and Welding Research Institute, Osaka University, Mihogaoka, Ibaraki 567-0047, Osaka, Japan