1. Beijing Institute of Technology, Beijing 100081, China
2. School of Aerospace and Mechanical Engineering, University of Oklahoma, Norman 73019, OK
3. School of Mechanical Engineering, Institute for Industrial Engineering, Beijing Institute of Technology, No. 5 Zhongguancun South Street, Haidian District, Beijing 100081, China e-mail:
4. Department of Mechanical Engineering, The University of Texas at Tyler, Tyler 75799, TX
5. School of Industrial and Systems Engineering, University of Oklahoma, Norman 73019, OK