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 Benyun Zhao<sup>1</sup>, Xunkuai Zhou<sup>1, 2</sup>, Guidong Yang<sup>1</sup>, Junjie Wen<sup>1</sup>, Jihan Zhang<sup>1</sup>,  Xi Chen<sup>1</sup>, and <a href="http://www.mae.cuhk.edu.hk/~bmchen/">Ben M. Chen</a><sup>1</sup>, Fellow, IEEE
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 1.Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong &nbsp; &nbsp; &nbsp; 2.School of Electronics and Information Engineering,Tongji University