1. Department of Mechanics, Tianjin University, Yaguan Road No.135, Tianjin 300054, China e-mail:
2. Department of Mechanical Engineering and Science, Kyoto University, Nishikyo-Ku, Kyoto 615-8540, Japan e-mail:
3. CNMM, Department of Engineering Mechanics, Tsinghua University, Beijing 100084, China e-mail: