1. School of Computer Science and Technology, Zhejiang Normal University, Jinhua 321004, China
2. Zhejiang Institute of Photoelectronics & Zhejiang Institute for Advanced Light Source, Zhejiang Normal University, Jinhua 321004, China
3. Key Laboratory of Intelligent Operation and Maintenance Technology & Equipment for Urban Rail Transit of Zhejiang Province, Jinhua 321004, China
4. School of Engineering, Zhejiang Normal University, Jinhua 321004, China
5. Xingzhi College, Zhejiang Normal University, Lanxi 321100, China
6. School of Information and Communication Engineering, University of Electronic Science and Technology, Chengdu 610054, China
7. Institute of Mechanical & Manufacturing Engineering, Khwaja Fareed University of Engineering & Information Technology, Rahim Yar Khan 64200, Pakistan