1. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China e-mails: ;
2. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China e-mail:
3. LaBoMaP Laboratory, Arts et Metiers ParisTech, F-71250 Cluny, France e-mail: