1. Mem. ASME School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China e-mail:
2. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China e-mail:
3. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China e-mail:
4. School of Automation and Electrical Engineering, Beihang University, Beijing 100191, China e-mail:
5. School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney 1466, Australia e-mail:
6. Mem. ASME School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney 1466, Australia e-mail: