1. College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Yingze Street, Taiyuan 030024, China
2. College of Aeronautics and Astronautics, Taiyuan University of Technology, Daxue Street, Taiyuan 030600, China
3. Department of Mechanical and Mechatronics Engineering, The University of Auckland, Grafton Road, Auckland City 1010, New Zealand
4. Manufacturing and Mechanical Engineering and Technology, Oregon Institute of Technology, Klamath Falls, 3201 Campus Drive, Klamath, OR 97601, USA