1. Shaanxi Engineering Research Center for Digital Manufacturing Technology, Northwestern Polytechnical University, Xi’an 710072, P. R. China
2. Department of Integrated Systems Engineering, The Ohio State University, 1971 Neil Ave, Columbus, Ohio 43210, USA
3. Department of Chemical and Biomolecular Engineering, The Ohio State University, 140 West 19th Avenue, 125 Koffolt Laboratories, Columbus, Ohio 43210, USA