1. College of Computer Science and Technology, China University of Petroleum (East China), Qingdao, Shandong, P. R. China
2. School of Information and Control Engineering, Qingdao University of Technology, Qingdao, Shandong, P. R. China
3. College of Mathematics and Systems Science, Shandong University of Science and Technology, Qingdao, Shandong, P. R. China