* Corresponding authors

^a Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China, School of Automation, Huazhong University of Science and Technology, Wuhan 430074, P. R. China
E-mail: lqpan@hust.edu.cn

^b College of Information Science and Technology, Shijiazhuang Tiedao University, Shijiazhuang 050043, P. R. China

^c Department of Biomedical Engineering, College of Engineering, Peking University, Beijing 100871, P. R. China

^d School of Control and Computer Engineering, North China Electric Power University, Beijing 102206, P. R. China
E-mail: yjzcdd_2000@ncepu.edu.cn

^e Institute of Software, School of Electronics Engineering and Computer Science, Peking University, Beijing, P. R. China
E-mail: zhangcheng369@pku.edu.cn