1. School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710048, P. R. China
2. State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710048, P. R. China
3. School of Chemical Engineering and Technology, Xi’an Jiaotong University, Xi’an 710048, P. R. China
4. School of Computer Science and Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, P. R. China