1. National Local Joint Engineering Research Center of Safety Guarantee Technology for Operation and Maintenance of Rail Transport Infrastructure, East China Jiaotong University, Nanchang 330013, China;
2. State Key Laboratory of Heavy Duty AC Drive Electric Locomotive Systems Integration, CRRC Zhuzhou Electric Locomotive Co. Ltd., Zhuzhou 412001, China
3. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
4. School of Mechatronics and Vehicle Engineering, East China Jiaotong University, Nanchang 330013, China