1. School of Mechanical, Materials, Mechatronic and Biomedical Engineering, Faculty of Engineering and Information Sciences, University of Wollongong, Wollongong, NSW 2522, Australia
2. Graduate School of Engineering, Osaka University, Osaka 565-0871, Japan
3. HBIS Group Technology Research Institute, Shijiazhuang 050023, Hebei, P. R. China
4. HBIS Group Tangsteel Company, Tangshan 063000, Hebei, P. R. China