1. School of Electronic and Information Engineering, Beijing Jiaotong University,Beijing,China,100044
2. Locomotive and Car Research Institute, China Academy of Railway Science,Beijing,China,100081
3. School of Information and Communication, Guilin University of Electronic Technology,Guilin,China,541004
4. Shanghai Jiao Tong University,Department of Computer Science and Engineering,Shanghai,China,200240
5. Silesian University of Technology, Akademicka,Department of Applied Informatics,Gliwice,Poland,16 44-100