1.National NC System Engineering Research Center, Huazhong University of Science and Technology, Wuhan, 430074
2.Institute for Problems in Mechanical Engineering, Russian Academy of Sciences,St.Petersburg,Russia,199178
3.Department of Mathematics and Mechanics, Saint Petersburg State University, St.Petersburg,Russia,199034
4. China-EU Institute for Clean and Renewable Energy, Huazhong University of Science and Technology, Wuhan, 430074
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