1. SCALE@NTU Corporation Lab, Nanyang Technological University, Singapore 639798.
2. Institute of Marine Science and Technology, Shandong University, Qingdao 266237, China (e-mail: wensong@email.sdu.edu.cn)
3. Singapore Institute of Manufacturing Technology (SIMTech), Agency for Science Technology and Research (ASTAR), Singapore 138634 (e-mail: zhiguangcao@outlook.com)
4. School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798.
5. Department of Industrial Systems Engineering and Management, National University of Singapore, Singapore 119077.