1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Box 357, No. 29 Yudao Street, Nanjing 210016, China e-mail:
2. Mem. ASME College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Box 357, No. 29 Yudao Street, Nanjing 210016, China e-mail:
3. Fellow ASME Department of Production Engineering, KTH Royal Institute of Technology, Brinellvägen 68, Stockholm 100 44, Sweden e-mail: