School of Computer Science Liaocheng University Liaocheng 252059 China;
School of Information Science and Engineering Shandong Normal University Jinan 250014 China;
School of Mechatronic Engineering and Au-tomation Shanghai University Shanghai 200072 China;
School of Information Science and Engineer-ing Shandong Normal University Jinan 250014 China;
Macau Institute of Systems Engineering Macau University of Science and Technology Macau 999078 China;