1. School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China; Department of Production Engineering, KTH Royal Institute of Technology, Brinellvägen 68, Stockholm 100 44, Sweden e-mails: ;
2. School of Mechanical and Power Engineering, Harbin University of Science and Technology, Xuefu Road 52, Harbin 150080, China
3. School of Mechanical and Power Engineering, Harbin University of Science and Technology, Xuefu Road 52, Harbin 150080, China e-mail:
4. Fellow ASME Department of Production Engineering, KTH Royal Institute of Technology, Brinellvägen 68, Stockholm 100 44, Sweden e-mail:
5. Fellow ASME Mechanical Engineering for Advanced Manufacturing Systems, MARC, Georgia Institute of Technology, Atlanta, GA 30332-0405 e-mail: