1. State Key Laboratory for Manufacturing System Engineering, Xi’an Jiaotong University, Xi’an, Shaanxi 710049, P.R. China
2. Department of Mechanical Engineering, University of Michigan, Dearborn, Michigan 48128, United States
3. Department of Oncology, Xijing Hosptial, Air Force Military Medical University, Xi’an, Shaanxi 710032, China