**Acknowledgements**

The research was primarily supported by the National Natural Science Foundation of China (51275490 and 50975265), the open foundation of Shanxi Key Laboratory of Advanced Manufacturing Technology (XJZZ201601-06) and the school fund of Taiyuan University of Technology (2016QNOZ). I would like to express my gratitude to all those who helped me during the writing of this work. Specially, I would like to express my gratitude to my students Yang Fengyu and Yao Binting, who helped me to revise the English translation.
