[1] Xian Polytech Univ, Dept Mech Engn, Xian 710048, Shaanxi, Peoples R China
[2] Univ Pretoria, Dept Elect Elect & Comp Engn, ZA-0002 Pretoria, South Africa
[3] Xi An Jiao Tong Univ, Dept Mech Engn, Xian 710011, Shaanxi, Peoples R China
[4] Univ Wollongong, Sch Mech Mat Mechatron & Biomed Engn, Wollongong, NSW 2522, Australia
[5] China Univ Min & Technol, Sch Mechatron Engn, Xuzhou 221110, Jiangsu, Peoples R China