1. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China
2. Centre for Precision Technologies, University of Huddersfield, Huddersfield HD1 3DH, UK
3. IMA Ltd., 29 Clay Lane, Hale, Cheshire WA15 8PJ, UK
4. Faculty of Engineering, University of Nottingham, Nottingham NG8 1BB, UK