1. State Key Laboratory of Hydroscience and Engineering and Department of Energy and Power Engineering, Tsinghua University, Beijing 100084, China
2. College of Robotics, Beijing Union University, Beijing 100020, China
3. Key Laboratory for Thermal Science and Power Engineering of Ministry of Education, Tsinghua University, Beijing 100084, China
4. Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Waterloo, Ontario N21-3G1, Canada