https://dds.las.ac.cn/service/document?appId=a1vacbnPuv9qJRzJvdNXfsesj9JbIa6e&appKey=sPBA4vANLzjnW1k5eufEcc4k7dxfNraW&ts=1763023125026&signature=1e89449af27864185af92aa8f4be4a62&articleTitle=Proceedings+of+the+2015+Chinese+Intelligent+Automation+Conference&articleAuthor=Zhidong+Deng%2C+Hongbo+Li&publicationTitle=Proceedings+of+the+2015+Chinese+Intelligent+Automation+Conference&language=&publicationType=1&publishYear=2015&isn=9783662464625&publisher=Springer+Berlin+Heidelberg