1. Department of Mechanical Engineering, School of Engineering, Cardiff University, Cardiff CF24 3AA, UK
2. Expert IT Services, Wan Chai, Hong Kong SAR, China
3. School of Computer Science and Informatics, Cardiff University, Abacws, Senghennydd Road, Cardiff CF24 4AG, UK
4. Medical Engineering Research Group, School of Engineering, Cardiff University, Cardiff CF24 3AA, UK
5. Department of Design, Harbin Institute of Technology (Shenzhen), Shenzhen, Guangdong 518000, China