1. Department of Industrial Engineering, Key Laboratory of Deep Coal Resource Mining, Ministry of Education of China, School of Mines, China University of Mining and Technology, Xuzhou 221116, Jiangsu, China e-mail:
2. Department of Industrial Engineering, China University of Mining and Technology, Xuzhou 221116, Jiangsu, China e-mail:
3. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China e-mail:
4. Department of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, AB T2N 1N4, Canada e-mail: