[1] Univ Elect Sci & Technol China, Sch Mech & Elect Engn, Chengdu 611731, Peoples R China
[2] Inst Elect & Informat Engn UESTC Guangdong, Dongguan 523808, Peoples R China
[3] Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China
[4] Xihua Univ, Sch Comp & Software Engn, Chengdu 610039, Peoples R China
[5] Univ Porto, Fac Engn, CONSTRUCT, P-4200465 Porto, Portugal
[6] Univ Porto, Fac Engn, INEGI, P-4200465 Porto, Portugal