1. Mechatronics T&R Institute, Lanzhou Jiaotong University, Lanzhou 730070, China
2. Engineering Technology Center for Information of Logistics & Transport Equipment, Lanzhou 730070, China
3. Gansu Industry Technology Center of Logistics &Transport Equipment, Lanzhou 730070, China
4. School of Electronic and Information Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China
5. Lanzhou Rail Transit Co., Ltd., Lanzhou 730030, China