1. School of Mechanical Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China
2. Shandong Institute of Mechanical Design and Research, Jinan 250353, China
3. Experimental Center, Shandong University of Traditional Chinese Medicine, Jinan 250355, China
4. Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada