1. State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China e-mail:
2. Machinery Research Department, Research & Innovation Center, Mitsubishi Heavy Industries Ltd., 5-717-1, Fukahori-machi, Nagasaki 851-0392, Japan
3. Machinery Research Department, Research & Innovation Center, Mitsubishi Heavy Industries Ltd., 5-717-1, Fukahori-machi, Nagasaki 851-0392, Japan