1. Department of Computer Science and Engineering, East China University of Science and Technology, 130 Meilong Road, Shanghai 200237, China e-mail:
2. Mem. ASME School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, China e-mail:
3. Mem. ASME Woodruff School of Mechanical Engineering, Georgia Institute of Technology, 813 Ferst Drive NW, Atlanta, GA 30332 e-mail: