1. State Key Laboratory for Manufacturing System Engineering, School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, P. R. China
2. Department of Mechanical Engineering, University of Connecticut, Storrs, CT 06269, USA
3. Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland Ohio 44106, USA
4. School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P. R. China