1. School of Electrical Engineering, Southwest Jiaotong University, Chengdu, Sichuan, China
2. Institute of Artificial Intelligence, School of Computer Science and Informatics, De Montfort University, Leicester, UK
3. Control Engineering College, Chengdu University of Information Technology, Chengdu, Sichuan, China
4. Institute of Real Time Learning Systems, University of Siegen, Siegen, Germany