1. School of Information Technology and Engineering, Tianjin University of Technology and Education, Tianjin 300222, China
2. Engineering Research Center of Integration and Application of Digital Learning Technology, Ministry of Education, Beijing 100039, China
3. Tianjin Swom Technology Development Co., Ltd., Tianjin 300387, China
4. School of Computer Science, Tiangong University, Tianjin 300387, China
5. Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems, Tianjin 300387, China
6. College of Science, Civil Aviation University of China, Tianjin 300300, China