1. State Key Laboratory of Nonlinear Mechanics, Institute of Mechanics, Chinese Academy of Sciences, Beijing 100190, China
2. School of Engineering Sciences, University of Chinese Academy of Sciences, Beijing 100190, China
3. Department of Mechanical Engineering and St. Anthony Fall Laboratory, University of Minnesota, Minneapolis, Minnesota 55455, USA
4. Department of Mechanical Engineering, University of Manitoba, Winnipeg, Manitoba R3T 5V6, Canada