1. College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, P. R. China
2. Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310023, P. R. China
3. School of Engineering, RMIT University, P. O. Box 71, Bundoora, VIC 3083, Australia
4. School of Civil Engineering, the University of Queensland, Brisbane, St Lucia 4072, Australia