1. School of Information Science and Engineering, Shenyang Ligong University, Shenyang 110159, China
2. School of Computer Science and Engineering, Northeastern University, Shenyang 110169, China
3. School of Mechanical Engineering, Shenyang Ligong University, Shenyang 110159, China
4. Faculty of Engineering, Gifu University, Gifu 501-1193, Japan