National Key Basic Research Development Program of China("973"Program)(2014CB046502);Natural Science Foundation of Ningbo City(2013A610043,2013A610045);Zhejiang Provincial Education Department Foundation(Y201224321);Open Research Fund of Key Laboratory of High Performance Complex Manufacturing,Central South University(Kfkt2013-04);the Outstanding Youth Foundation of Zhejiang Province;K.C.Wong Magna Fund in Ningbo University(R1110646)