[1] Taiyuan Univ Sci & Technol, Taiyuan 030024, Shanxi, Peoples R China
[2] Qufu Normal Univ, Coll Engn, Jining 276826, Shandong, Peoples R China
[3] China Shipbldg Ind Corp, Res Inst 707, Tianjin 300072, Peoples R China
[4] Univ Manchester, Sch Elect & Elect Engn, Manchester M60 1QD, Lancs, England