1. School of Mechanical Engineering of Zhejiang University, Hangzhou 310027, China;
2. Ningbo Research Institute, Zhejiang University, Ningbo 315000, China
3. State Key Laboratory of CAD&CG, School of Mechanical Engineering of Zhejiang University, Hangzhou 310027, China
4. Key Laboratory of E&M, Zhejiang University of Technology, Hangzhou 310014, China