[1] Peking Univ, Coll Engn, SKLTCS, Beijing 100871, Peoples R China
[2] Peking Univ, Coll Engn, CAPT, IFSA Collaborat Innovat Ctr,MoE,Dept Mech & Engn, Beijing 100871, Peoples R China
[3] KTH Mech, Linne Flow Ctr, SE-10044 Stockholm, Sweden
[4] KTH Mech, SeRC, SE-10044 Stockholm, Sweden