1. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao, PR China
2. Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao, PR China
3. School of Mechatronic Engineering, China University of Mining & Technology, Xuzhou, PR China