1. a State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, P. R. China
2. b State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, P. R. China; Zhengzhou University of Light Industry, Zhengzhou 450002, P. R. China
3. c Tokyo Institute of Technology, Meguro-ku, Tokyo 152-8550, Japan
4. d State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, P. R. China
5. e State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, P. R. China
6. f Zhengzhou University of Light Industry, Zhengzhou 450002, P. R. China