1. Nanchang Key Laboratory of Welding Robot & Intelligent Technology, Nanchang Institute of Technology, Nanchang 330099, P. R. China
2. Jiangxi Science and Technology Infrastructure Platform Center, Nanchang, 330003, P. R. China
3. Jianglian Heavy Industry Group Co., Ltd, Nanchang 330096, P. R. China
4. Jiangxi Hengda Hi-Tech Co., Ltd, Nanchang 330096, P. R. China