[1] Shaanxi Univ Sci & Technol, Coll Mech & Elect Engn, Xian 710021, Peoples R China
[2] Xi An Jiao Tong Univ, Sch Mech Engn, Xian 710049, Peoples R China
[3] Xi An Jiao Tong Univ, State Key Lab Mech Mfg Syst Engn, Xian 710054, Peoples R China
[4] Guangxi Sci & Technol Normal Univ, Sch Math & Comp Sci, Laibin 546199, Peoples R China