1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
2. CNPC Baoji Oilfield Machinery Co., Ltd., Baoji 721002, China
3. CNPC National Engineering Research Center for Oil & Gas Drilling Equipment Co., Ltd., Baoji 721002, China
4. School of Computer Science and Engineering, Xi’an University of Technology, Xi’an 710048, China