1. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China
2. National Engineering Research Center for Technological Innovation Method and Tool, Hebei University of Technology, Tianjin 300401, China
3. Department of Mechanical Engineering, University of Manitoba, Winnipeg, MB R3T 5V6, Canada
4. School of Mechanical Engineering, Tianjin University of Commerce, Tianjin 300134, China