Manuscript received August 21, 2017; revised November 19, 2017 and December 27, 2017; accepted January 9, 2018. Date of publication January 17, 2018; date of current version December 3, 2018. This work was supported in part by the National Natural Science Foundation of China under Grant 61505064, in part by Hong Kong Scholars Programs under Grant XJ2016063, in part by the National Natural Science Foundation of Hubei Province under Grant 2016CFB497, in part by the National key Research and Development Program (2017YFB1401301, 2017YFB1401303), in part by the Cultivating Excellent Doctoral Dissertations Program of CCNU (2017YBZZ009), and in part by the Specific Funding for Education Science Research by Self-Determined Research Funds of CCNU (CCNU18QN008). Paper no. TII-17-1901.R2. The authors, H. Liu and T. Liu contributed equally to this work. (Corresponding author: Hai Liu.) H. Liu is with the National Engineering Research Center for E-Learning, Central China Normal University, Wuhan 430079, China, and also with the Department of Mechanical and Biomedical Engineering, City University of Hong Kong, 83 Tat Chee Avenue, Kowloon, Hong Kong (e-mail: hailiu0204@mail.ccnu.edu.cn).
