1. College of Intelligent Manufacturing and Control Engineering, Shandong Institute of Petroleum and Chemical Technology, Dongying 257061, Shandong, P. R. China
2. Dongying Key Laboratory of Mechanical Surface Engineering and Tribology Shandong Institute of Petroleum and Chemical Technology, Dongying 257061, Shandong, P. R. China
3. School of Mechanical and Electronic Engineering, Qingdao Binhai University, Qingdao 266555, Shandong, P. R. China