1. Key Laboratory of Traffic Safety on Track (Central South University), Ministry of Education, Changsha 410075, China
2. Joint International Research Laboratory of Key Technology for Rail Traffic Safety, Changsha 410075, China
3. National and Local Joint Engineering Research Centre of Safety Technology for Rail Vehicle, Changsha 410075, China
4. Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada