1. Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering, Shandong University, Jinan 250061, China
2. Key Laboratory of Transportation Industry for Transport Vehicle Detection, Diagnosis and Maintenance Technology, Jinan 250061, China
3. College of Automotive and Mechanical Engineering, Changsha University of Science and Technology, Changsha 410114, China
4. Key Laboratory of Traffic Safety on Track of Ministry of Education, School of Traffic and Transportation Engineering, Central South University, Changsha 410083, China