Department of Mechanical,Automotive and Materials Engineering,Faculty of Engineering,University of Windsor,Windsor N9B 3P4,Canada

Department of Information and Communication Engineering,Graduate School of Engineering,Nagoya University,Nagoya 464-8601,Japan

Department of Intelligent Science and Technology,College of Computer Science and Technology,Qingdao University,Qingdao 266071,China

Design and Research Institute of University of Science and Technology Beijing Co.Ltd.,Beijing 100083,China

Faculty of Engineering,Yamaguchi University,Yamaguchi 755-8611,Japan