1. School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, P. R. China
2. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, P. R. China
3. Jiangsu Provincial Key Laboratory of Advanced Manufacturing for Marine Mechanical Equipment, Jiangsu University of Science and Technology, Zhenjiang 212003, P. R.China
4. Suzhou Institute of Technology, Jiangsu University of Science and Technology, Zhangjiagang 215600, P. R. China