[1] Southwest Jiaotong Univ, Sch Elect Engn, Chengdu 610031, Sichuan, Peoples R China
[2] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Liaoning, Peoples R China
[3] Chengdu Univ Informat Technol, Control Engn Coll, Chengdu 610225, Sichuan, Peoples R China
[4] Univ Cologne, Inst Zool, Dept Neurobiol Anim Physiol, Bioctr Cologne, Zulpicherstr 47b, D-50674 Cologne, Germany
[5] Univ Cologne, Inst Biol Educ Zool, Herbert Lewinstr 2, D-50931 Cologne, Germany
[6] De Montfort Univ, Sch Comp Sci & Informat, Ctr Computat Intelligence, Leicester LE1 9BH, Leics, England
[7] Univ Jyvaskyla, Dept Math Informat Technol, POB 35, Jyvaskyla 40014, Finland
[8] Univ Siegen, Inst Real Time Learning Syst, D-57076 Siegen, Germany
[9] Xihua Univ, Sch Mech Engn, Chengdu 610039, Sichuan, Peoples R China