1. School of Mechanical and Electrical Engineering, Guizhou Normal University, Guiyang 550001, China
2. Nottingham Ningbo China Beacons of Excellence Research and Innovation Institute, University of Nottingham Ningbo China, Ningbo 315100, China
3. Faculty of Science and Engineering, University of Nottingham Ningbo China, Ningbo 315100, China
4. Faculty of Engineering, University of Nottingham, Nottingham NG7 2RD, UK