1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China
2. Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology, Beijing Jiaotong University, Ministry of Education, Beijing, China
3. School of Mechanical Engineering, Hebei University of Technology, Tianjin, China
4. Key Laboratory of Advanced Intelligent Protective Equipment Technology, Ministry of Education, Tianjin, China