1. National Research Base of Intelligent Manufacturing Service, Chongqing Technology and Business University, Chongqing, China
2. Chongqing Engineering Laboratory for Detection Control and Integrated System, Chongqing Technology and Business University, Chongqing, China
3. School of Computer Science and Information Engineering, Chongqing Technology and Business University, Chongqing. China
4. Graduate School of Engineering, University of Fukui, Fukuishi, Japan
5. Universidad Politécnica Salesiana, Cuenca, Ecuador
6. On Sabbatical leave from CEOT, Universidade do Algarve, Faro, Portugal