Department of Mechanical Engineering,the University of Hong Kong

School of Mathematics,Southeast University,Nanjing 210096,China

School of Mathematics and the Frontiers Science Center for Mobile Information Communication and Security,Southeast University,Nanjing 210096,China

School of Mathematics,the Southeast University,Nanjing 210096

School of Electronic Information and Electrical Engineering,Chengdu University,Chengdu 610106,China

Systems Research Institute of the Polish Academy of Sciences,Warsaw 01-447

Institute of Computer Science,AGH University of Science and Technology,Kraków 30-059

Information Technology Institute,University of Social Sciences,Łódz,90-113,Poland