School of Mechanical Engineering Xi’an Jiaotong University Xi’an ShaanXi 710054 China;
State Key Laboratory for Manufacturing System Engineering School of Mechanical Engineering Xi’an Jiaotong University Xi’an ShaanXi 710054 China;
Department of Neurosurgery Xijing Hospital Fourth Military Medical University Xi’an Shaanxi Province 710032 China;
Departamento de Ingenieria Mecanica Universidad de Las Palmas de Gran Canaria 35017 Las Palmas de Gran Canaria Spain;