1. College of Mathematics, Qingdao University, Qingdao, Shandong 266071, P. R. China
2. College of Automation Engineering, Qingdao University, Qingdao, Shandong 266071, P. R. China
3. Department of Mathematics and Statistics, Brock University, St. Catharines, Ontario, L2S 3A1, Canada