[1] Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
[2] Xi An Jiao Tong Univ, Xian 710049, Peoples R China
[3] New Jersey Inst Technol Newark, Newark, NJ 07102 USA
[4] Ruhr Univ Bochum, D-44801 Bochum, Germany
[5] Univ Vaasa, Vaasa 65100, Finland
[6] Chinese Acad Sci, Cloud Comp Ctr, Dongguan 523808, Peoples R China