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