1. Biomanufacturing Engineering Research Center, Mechanical Engineering, Tsinghua University, Beijing 100084, China;
2. Biomanufacturing and Rapid Forming Technology Key Laboratory of Beijing, Beijing 100084, China
3. Department of Mechanical Engineering, The College of New Jersey, Ewing, NJ 08628
4. Biomanufacturing and Rapid Forming Technology Key Laboratory of Beijing, Beijing 100084, China;
5. Department of Mechanical Engineering, Drexel University, Philadelphia, PA 19104 e-mails: ,