1. Shandong Top Hydraulic & Pneumatic Co., Ltd., School of Mechanical Engineering, Shandong University, Ji′nan 250061,China; 2. Key Laboratory of Highefficiency and Clean Mechanical Manufacture, School of Mechanical Engineering, Shandong University, Ji′nan 250061, China; 3. Institute of Marine Science and Technology, Shandong University, Ji′nan 250100, China
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