1(School of Electronics and Information, Tongji University, Shanghai 201804);2(School of Computer Science and Technology, Shanghai University of Electric Power, Shanghai 200090);3(Key Laboratory of Embedded System and Service Computing (Tongji University), Ministry of Education, Shanghai 201804);4(Zoomlion Heavy Industry Science and Technology Development Co., Ltd., Changsha 410013) ;5(School of Computer Engineering and Science, Shanghai University, Shanghai 200444)