1. Laboratory of Intelligent Manufacturing and Precision, Machining, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, P. R. China
2. Graduate School at Shenzhen, Tsinghua University, Shenzhen 518055, P. R. China
3. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, P. R. China