Affiliation: | MENG XianHai 1,LI JiGang 1,YANG Qin 1,CAI Qiang 2 & CHEN QiMing 3 1 NLSDE,School of Computer Science , Engineering,BeiHang University,Beijing 100083,China,2 School of Computer Sciences,Beijing Technology , Business University,Beijing 100037,3 School of Mechanical Engineering , Automation |