Manuscript received February 4, 2016; revised April 23, 2016 and June 28, 2016; accepted June 4, 2016. Date of publication June 28, 2016; date of current version March 22, 2018. This work is supported by funding from the Faculty of Engineering & Information Technologies, The University of Sydney, under the Faculty Research Cluster Program, National Natural Science Foundation of China (No. 71371065, 71331001, 71420107027, 91547113, 51207014), Hunan Province 100 Talent Program Fund, State Scholarship Fund of China (No. 201308430317), Scientific Research Fund of Hunan Provincial Education Department (No. 15B006), and Natural Science Foundation of Hunan Province (No. 2015JJ4001). Paper no. TPWRD-00150-2016.