[1] Huanghe Sci & Technol Univ, Dept Engn, Zhengzhou 450045, Peoples R China
[2] North China Univ Water Resources & Elect Power, Sch Mech Engn, Zhengzhou 450045, Peoples R China
[3] Univ Huddersfield, Sch Comp & Engn, Huddersfield HD1 3DH, West Yorkshire, England
[4] Glass Box, 6 Friendly St, Huddersfield HD1 1RD, England