1. School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, China
2. China Coal Technology & Engineering Group Shenyang Research Institute, Fushun 113122, China
3. Department of Mechanical Engineering, Nippon Institute of Technology, Saitama 345-8501, Japan
4. School of Information Science and Engineering, Shenyang University of Technology, Shenyang 110870, China