1. Mechatronics T&R Institute, Lanzhou Jiaotong University, Lanzhou, People’s Republic of China
2. School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou, People’s Republic of China
3. Gansu Provincial Engineering Technology Center for Informatization of Logistics & Transport Equipment, Lanzhou, People’s Republic of China
4. CRRC Nanjing Puzhen Vehicle Co., Ltd., Nanjing, People’s Republic of China