1. Xi’an Jiaotong University, School of Mechanical Engineering, State Key Laboratory for Manufacturing System Engineering, No.28, Xianning West Road, Xi’an 710049, China
2. Xi’an Polytechnic University, College of Mechanical and Electrical Engineering, Xi’an 710048, China
3. Kyoto University, Department of Precision Engineering, Faculty of Engineering, Yoshida Honmachi, Sakyo-ku, Kyoto 606-8501, Japan