In this article the affiliation details for affiliations 1 and 3 incorrectly given. It should have been as follows. 1. College of Mechanical Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, China 3. School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW 2522, Australia The original article has been corrected.