1. School of Mechanical Engineering, Beijing Institute of Technology, Rm 343, No. 1 Teaching Building, No. 5 Zhongguancun South Street, Haidian District, Beijing 100081, China
2. Systems Realization Laboratory, Division of Industrial Design, School of Engineering, The University of Liverpool, Brodie Tower, Brownlow Hill, Liverpool, L69 3GH, UK
3. Systems Realization Laboratory, School of Industrial and Systems Engineering, The University of Oklahoma, 202 W. Boyd, Suite 218, Norman, OK 73019-1022
4. School of Mechanical Engineering, Beijing Institute of Technology, Rm 344, No. 1 Teaching Building, No. 5 Zhongguancun South Street, Haidian District, Beijing 100081, China