[1] Chongqing Univ, Coll Mech & Vehicle Engn, Chongqing 400044, Peoples R China
[2] Chongqing Univ Posts & Telecommun, Coll Automat, Chongqing 400065, Peoples R China
[3] Ontario Tech Univ, Dept Mech Engn, Oshawa, ON L1G 0C5, Canada
[4] KTH Royal Inst Technol, Dept Chem Engn, S-11428 Stockholm, Sweden