1. School of Industrial Design and Ceramic Art, Foshan University, Foshan, China
2. School of Mechatronic Engineering and Automation, Foshan University, Foshan, China
3. Department of Electronic Engineering, Shantou University, Guangdong, Shantou, China
4. School of Computing, University of Portsmouth, Portsmouth, U.K
5. Department of Mechanical and Aerospace Engineering, Western Michigan University, Kalamazoo, MI, USA