1. Zhijiang College of Zhejiang University of Technology, Shaoxing 312030, P. R. China
2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, P. R. China
3. College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310032, P. R. China
4. Key Laboratory of Metal Tube Plastic Forming Technology and Equipment for Aviation and Aerospace of Zhejiang Province, Lishui 321403, P. R. China
5. School of Materials, Northwestern Polytechnical University, Xian 710072, P. R. China