1. Tsinghua University Department of Automation, , Beijing 100084 , China ;
2. Shanghai Baosight Software Co., Ltd. , Shanghai 201203 , China
3. Tsinghua University Department of Mechanical Engineering, , Beijing 100084 , China ;
4. Guangzhou University School of Mathematics and Information Science, , Guangzhou 510006 , China
5. Tsinghua University State Key Laboratory of Tribology in Advanced Equipment, , Beijing 100084 , China ;
6. Tsinghua University Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, , Beijing 100084 , China
7. Taiyuan University of Technology College of Mechanical and Vehicle Engineering, , Taiyuan, Shanxi 030024 , China
8. Beijing Union University College of Urban Rail Transit and Logistics, , Beijing 100101 , China
9. Tsinghua University Department of Automation, , Beijing 100084 , China