[1] School of Intelligent Engineering, Shandong Management University, No.3500 Dingxiang Road, Shandong, Jinan,250357, China
[2] School of Control Science and Engineering, Shandong University, No.17923 Jingshi Road, Shandong, Jinan,250061, China
[3] Center for Robotics, School of Control Science and Engineering, Shandong University, No.17923 Jingshi Road, Shandong, Jinan,250061, China
[4] School of Mathematics Science, Liaocheng University, No.1 Hunan Road Dongchangfu District, Shandong, Liaocheng,252000, China
[5] Department of Clinical Sciences, Lund University, Solvegatan 19, Skaane, Malmo,22184, Sweden
[6] Oxford Centre for Diabetes, Endocrinology & Metabolism, Radcliffe Department of Medicine, University of Oxford, Old Road, Oxford,OX3 7LE, United Kingdom