1. Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin 300384, China e-mail:
2. Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112 e-mail:
3. Department of Mechanical Engineering, Binghamton University, Binghamton, NY 13902 e-mail:
4. Fellow ASME Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ 08854 e-mail: