1School of Computer Science and Technology, China University of Mining and Technology, Xuzhou 221116, China 2Griffith School of Engineering, Griffith University, Gold Coast, QLD 4222, Australia 3Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133 Milano, Italy 4Lakehead University, Thunder Bay, ON, Canada P7B 5E1 5School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China