[1] Lanzhou Univ Technol, Sch Comp & Commun, Lanzhou, Peoples R China
[2] Northwestern Polytech Univ, Minist Educ, Key Lab Contemporary Design & Integrated Mfg Tech, Xian 710072, Peoples R China
[3] Univ Exeter, Sch Engn Comp Sci & Math, Exeter, Devon, England