1. School of Automation, Nanjing University of Science and Technology, Nanjing, China
2. Department of Computer Science, Brunel University London, Uxbridge, Middlesex, U.K.
3. Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Anhui Polytechnic University, Wuhu, Anhui, China
4. Department of Electrical and Computer Engineering, Faculty of Engineering, King Abdulaziz University, Jeddah, Saudi Arabia
5. Department of Information Technology, Faculty of Computing and Information Technology, King Abdulaziz University, Jeddah, Saudi Arabia