1. School of Mechanical Engineering, Hebei University of Technology, 8, Dingzigu Yihaolu, Hongqiao-qu, Tianjin 300132, China e-mail:
2. School of Engineering, Kyushu Institute of Technology, 1-1, Sensui-cho, Tobata-ku, Kitakyushu-shi, Fukuoka-ken 804-8550, Japan e-mail:
3. Faculty of Science and Technology, Meijo University, 1-501 Shiogamaguchi, Tempaku-ku, Nagoya 468-8502, Japan e-mail: