1. Tsinghua University Department of Mechanical Engineering, , Beijing 100084 , China ;
2. Guangzhou University School of Mathematics and Information Science, , Guangzhou 510006 , China
3. Tsinghua University State Key Laboratory of Tribology in Advanced Equipment, , Beijing 100084 , China ;
4. Tsinghua University Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipments and Control, , Beijing 100084 , China
5. Beijing Union University College of Urban Rail Transit and Logistics, , Beijing 100101 , China