1. School of Mechatronic Engineering, Southwest Petroleum University, Chengdu, China
2. Energy Equipment Research Institute, Southwest Petroleum University, Chengdu, China
3. CNPC National Engineering Research Center for Oil & Gas Drilling Equipment Co. Ltd., Tianjin, China
4. The 714 Research Institute of CSIC, Beijing, China
5. Oil Production Service Co., CETS Ltd., Tianjin, China