1. State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China
2. Intel, Espoo, Finland
3. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
4. ABB Corporate Research, Vasteras, Sweden
5. School of Mechanical Engineering, Zhejiang University, Hangzhou, China