1. Intelligent Manufacturing Key Laboratory of Ministry of Education, Shantou University, Guangdong, China
2. Intelligent Manufacturing Key Laboratory of Ministry of Education, Shantou University, Guangdong, China; Department of Mechanical Engineering, Northern Arizona University, Flagstaff, AZ 86011
3. State Key Lab of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China e-mail:
4. Department of Mechanical and Electro-Mechanical Engineering, National ILan University, ILan, Taiwan