1. Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, P. R. China
2. National Demonstration Center for Experimental, Mechanical and Electrical Engineering Education, Tianjin University of Technology, P. R. China
3. Nature Science Department Harbin Institute of Technology, Shenzhen Campus, Shenzhen 518055, P. R. China