1. School of Printing, Packaging Engineering and Digital Media Technology, Xi’an University of Technology, Xi’an, Shaanxi, China
2. State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an, Shaanxi, China
3. School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an, Shaanxi, China
4. College of Engineering, Michigan State University, East Lansing, MI, USA