1. School of Mechatronics Engineering, University of Electronic Science and Technology of China, Chengdu, Sichuan 611731, China
2. School of Mechatronics Engineering, University of Electronic Science and Technology of China, Chengdu, Sichuan 611731, China e-mail:
3. School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an, Shaanxi 710072, China e-mail:
4. School of Engineering and Built Environment, Glasgow Caledonian University, Glasgow G4 0BA, UK e-mail: