1. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China;
2. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109;
3. Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment, China University of Mining and Technology, Xuzhou 221116, China e-mail:
4. Nonlinear Dynamics, Chaos and Complex Systems Group, Departamento de Física, Universidad Rey Juan Carlos, Tulipán s/n, Móstoles 28933, Madrid, Spain;
5. Institute for Physical Science and Technology, University of Maryland, College Park, MA 20742
6. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China