1. Faculty of Mechanical Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250316, China
2. School of Mechanical Engineering, Jiangnan University, Wuxi 214126, China
3. School of Design, Jiangnan University, Wuxi 214126, China
4. Faculty of Science and Forestry, School of Computing, University of Eastern Finland, FI-80101 Joensuu, Finland