1. Key Laboratory of Liquid-Solid Structural Evolution and Processing of Materials, Ministry of Education Shandong University, Jinan, Shandong 250061, P. R. China
2. National Innovation Institute of Defense Technology, Academy of Military Science of the Chinese People’s Liberation Army, Beijing 100071, P. R. China
3. School of Mechanical Engineering, Shandong University, Jinan, Shandong 250061, P. R. China
4. Shandong Engineering and Technology Research Center for Modern Welding, Shandong University, Jinan, Shandong 250061, P. R. China