1. School of Mechanical Engineering, Chongqing University, Chongqing 400030, China e-mail:
2. Department of Mechanical Engineering, Southwest Jiaotong University, Sichuan 610031, China
3. College of Power and Energy Engineering, Harbin Engineering University, 145 Nantong Street, Nangang District, Harbin 150001, Heilongjiang, China
4. School of Mechanical Engineering;
5. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400030, China
6. School of Mechanical Engineering, Chongqing University, Chongqing 400030, China
7. School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798