1. College of Mechanical and Electrical Engineering, Beijing Union University, Beijing 100020, P. R. China
2. Beijing Engineering Research Center of Smart Mechanical, Innovation Design Service, Beijing 100020, P. R. China
3. Department of Civil Engineering, University of Ottawa, Ottawa, ON, Canada K1N 6N5, Canada
4. College of Life Science and Bioengineering, Beijing University of Technology, Beijing 100124, P. R. China