[1] Tianjin Univ, Sch Mech Engn, Tianjin 300350, Peoples R China
[2] Tianjin Univ, Key Lab Mech Theory & Equipment Design, Minist Educ, Tianjin 300350, Peoples R China
[3] Hebei Univ Technol, Sch Mech Engn, Tianjin 300130, Peoples R China
[4] Tianjin Univ, Coll Intelligence & Comp, Tianjin 300350, Peoples R China
[5] Univ Warwick, Sch Engn, Coventry CV4 7AL, England