¹School of Artificial Intelligence and Automation, Key Laboratory of Image Processing and Intelligent Control, Engineering Research Center of Autonomous Intelligent Unmanned Systems, Chinese Ministry of Education, Huazhong University of Science and Technology, Wuhan 430074, China.

²School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China.

³Research Center for Applied Mathematics and Interdisciplinary Science, School of Mathematics and Statistics, Wuhan Textile University, Wuhan 430200, Hubei, China.

⁴State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China.

⁵Department of Engineering, University of Cambridge, Cambridge CB2 1PZ, UK.

⁶Department of Mechanical Engineering, University of Victoria, Victoria, BC, V8W 3P6, Canada.