[1] Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, 99 Yanxiang Rd, Xian 710054, Shaanxi, Peoples R China
[2] Xi An Jiao Tong Univ, Shaanxi Key Lab Intelligent Robots, 28 Xianning West Rd, Xian 710049, Shaanxi, Peoples R China
[3] Xian Microelect Technol Inst, 198 Taibai South Rd, Xian 710065, Shaanxi, Peoples R China