1. Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Clear Water Bay, China, Hong Kong
2. Key Laboratory of Contemporary Design and Integrated Manufacturing Technology, Ministry of Education, Northwestern Polytechnical University, Xi'an 710072, China
3. College of Mechanical and Electronic Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
4. Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong e-mail: