ME TECHNICAL PAPER w
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A New Detection Sensor for Wire Rope Based on Open
Magnetization Method
Yanhua Sun*, Shiwei Liu†, Lingsong He†, Yihua Kang†
ABSTRACT:
Hoist wire ropes often operate in a high-speed
swing status, and they are beyond the capability of
present portable magnet magnetic flux leakage
(MFL) sensors based on the yoke magnetic method
due to its strong magnetic force and large weight.
Unlike the yoke method, an open permanent
magnetization method is proposed by theoretical
analyses and also verified by the finite element
method (FEM) and experiments. An open
permanent magnetization method features much
weaker magnetic interaction force and similar
magnetization capability compared to the tradi-
tional yoke method. Meanwhile, the relevant
detection sensor for wire rope is designed by simu-
lation optimization to further test the prepon-
derant features. Furthermore, experimental
comparisons between the open and yoke sensors
for wire rope inspection were also conducted,
which successfully confirmed the characterization
of smaller magnetic interaction force and less wear
and damage in contrast with traditional technolo-
gies. Finally, the corresponding MFL apparatus was
developed and applied, which demonstrated the
good practicability for the nondestructive testing
of hoist ropes under poor working conditions.
KEYWORDS: open magnetization, nondestructive
testing (NDT), magnetic flux leakage (MFL),
magnetic yoke, hoist wire ropes
*School of Mechanical Science & Engineering, Huazhong University of
Science and Technology, Wuhan, 430074 China; e-mail address:
yhsun@hust.edu.cn.
† School of Mechanical Science & Engineering, Huazhong University of
Science and Technology, Wuhan, 430074 China
From Materials Evaluation, Vol. 75, No. 4, pp: 501-500.
Copyright © 2017 The American Society for Nondestructive Testing, Inc.
Introduction
Hoist wire ropes are vital components of safety and produc-
tion that operate in high-speed swaying conditions; therefore,
monitoring by NDT (nondestructive testing) methods is
urgently demanded for their structural health (Chaplin, 1995;
Schrems et al., 1997). The wire ropes are driven by a friction
wheel and run in turning motion with the aid of a guide
wheel, and then the dragging cages move up and down in a
common mine shaft. Owing to the spindle and soft features of
the ropes themselves (maximum length: 3000 m), high-speed
(maximum speed:15 m/s) swaying, and non-uniform loading,
random shaking is frequent in the operational ropes with a
large distance (maximum: 50 mm) from detection sensors.
For the running characters described above, there are some
key challenges that should be addressed during the portable
NDT for wire ropes. For instance, the swaying interaction
between tested ropes and detectors is usually small or weak,
and therefore the detectors must be capable of self-adaptively
tracking the swaying ropes to maintain a constant lift-off
between tested wire ropes and sensing units, guaranteeing a
good magnetic signal-to-noise rate. Additionally, the poor
working conditions require the whole NDT process for
portable wire ropes to be accomplished automatically instead
of manually.
Because of the powerful detection ability particularly for
inner defects, the MFL (magnetic flux leakage) approach has
been widely used for wire ropes detection (Callan et al., 1959;
Basak, 2005). However, all the MFL testing instruments for
wire ropes are simply portable styles based on yoke-magneti-
zation method, and can’t be applied to high-speed inspections
due to the wear damages and shaking magnetic noises caused
by great magnetic interaction force, large weight, or swing
inertia of the magnetic yoke structures (Hirama et al., 1984;
Nishiyori et al., 2013; Yoshioka et al., 2011; Osada et al.
2007). With respect to the portable MFL technology for static
defect testing of wire ropes, much attention has been focused
on the influence element analyses of yoke magnetization
method, design optimization of yoke configuration, and engi-
neering applications of magnet yoke MFL sensors under the
framework of magnetic yoke method. For instance, another
author (Mitsuaki et al., 2003) carried out the numerical
analyses of the magnetization status for objects or the excita-
tion effect for defect and detection parameters, which may
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affect MFL signals such as air gap of yoke-legs or yoke angle

in circumference by applying 3D or 2D magnetic simulation.
Other researchers (Wang et al., 2009) also presented the Ferrous yoke
magnetic circuit design, as well as the effect analyses caused Magnetic-yoke Permanant
testing package magnet
by lift-off distance and the distance between two magnetic stack II
poles (i.e., the yoke-legs spacing). Other authors (Gwan Soo
Park and Eun Sik Park, 2002) described an optimum design Permanant
method of determining the size of the magnet yoke to magnet
stack I
maximize the MFL signals and finally developed the back Magnetic
yoke sensor system for detecting defects with a small depth. sensing unit
ASTM E 1571-11 presented the design and application Defect
requirements for permanent yoke method and relevant instru- Tested wire rope
ments for steel wire ropes. Additionally, magnetic yoke
method was also studied by another author (Teranchi et al.,
2011) for the research of the magnetic flux distribution in Figure 1. Schematic of friction stir welding with weld discontinuities.
locally magnetized ferromagnetic materials with defects and
circumferential magnetizer designing. US Patent 7 982 458
registered apparatuses or detectors based on magnet yoke
method and presented the design details for yoke-circuits and some magnetic sensors, such as a hall element. In considera-
their corresponding configurations, including the number of tion of the factors above, the current yoke-type MFL testing

(at least 300 N) with the ropes, large length (at least 240 mm),
stack magnets, the air gap lift-distance of the permanent sensor is characterized by strong magnetic force interaction
magnetic polar, and the size of the magnetic yoke. Another
author (Radovanović et al., 2012) presented some applica- large weight (at least 9 kg), and poor adaptability for tested
tions of magnetic yoke method, such as magnetization for the wire ropes with different diameters. Consequently, with
hoist wire ropes and bridge cables detection. respect to the portable mine hoist wire ropes running in a
To address the hoist wire rope inspection challenges, this high speed swaying status, the existing magnetic yoke method
paper aims to present the advantages of an open magnetiza- is ill-suited for hoist wire rope detection.
tion sensor over the yoke magnetization method in terms of Differing from the magnetic circuit principles mentioned
magnetic excitation capability and magnetic interaction force. above, an open magnetization method created by a ring-
Furthermore, this paper also intends to design a relevant shaped magnet contrasts with the commonly used ring-
detection sensor based on open permanent magnetization shaped coils, which apply open magnetization technique to
method by optimization and a testing probe configuration magnetize the detected objects. According to magnetic charge
capable of tracking swing rope by experimental comparison of and molecular flow theory, the description for the magnetic
MFL signal change trends. Finally, this paper develops a potential fm at an arbitrary point of the space V outside the
corresponding portable testing apparatus with great promise permanent is:
of application performance in the future. 1 M( s) × n(s) 1 ∇ × M( s)
(1) φm = Ñ∫ dS + ∫ dV
4π S r−s 4π V r − s
Detection Principles Based on Open Magnetization
Method where
Presently, the commonly used portable MFL testing instru- M(s) is the magnetization vector and n(s) is the external
ment for static wire rope defect detection mainly consists of surface normal one,
several magnetic-yoke testing packages. Each of them is s is the position vector for the source point of magnet,
composed of double permanent magnet stacks with magnetic r is the position vector for the field point,
poles facing the tested object, ferrous yoke connecting the and ∇ is divergence operator.
stacks, and magnetic sensing units fixed under the yoke and
adjacent to the poles. The magnetic-yoke MFL testing Owing to the uniform magnetization, the ring-shaped
method for wire rope is schematically illustrated in Figure 1. magnet manifests itself by surface current and features no
To magnetically saturate the object being detected, the body current. Therefore, there is equivalent electric current
double magnetic poles should be located closely to the tested density for an area of rsm = M(s) × n(s) and for a volume of
wire rope as much as possible, together with the sensing units, rm = ∇ × M(s) = 0.
leading to a small lift-off distance (1 to 5 mm) for each package Thus, Equation 1 can be:
relative to the tested wire rope. Additionally, the ferrous yoke 1 ρsm
should also be designed at a certain length (over 240 mm) (2) φm = Ñ∫ dS
4π S r − s
and height (over 50 mm) to ensure a linear working range for

502 MATERIALS EVALUATION • APRIL 2017

 Then combined with the relation between magnetic solenoid coil as a magnetizer in fixed MFL apparatuses. Here,
field intensity H and magnetic scalar potential fm , that is, a ring-shaped permanent magnet is adopted to axially
H = –∇fm (Vanderlinde, 2006), magnetic field intensity can magnetize the whole circumference of the tested wire rope at
be calculated by: a certain length similarly to a tubular solenoid coil, and unat-
ρsm ( r − s) tached magnetic sensing units covering the full circumference
(3) H = − Ñ∫ S × dS of the tested rope are separately placed inside the ring magnet,
4π r − s 3
as indicated in Figure 2a. Because of the ring-shaped open
As shown in Figure 2a, the magnetic field density produced at magnetization configuration, the magnetic interaction
an arbitrary point P(r, f, h’) can be further calculated as: between the magnetizer and the wire rope is largely

H (ρ , φ , h ') =
M
∫∫
(ρ − x ) i + yj + ( h '− z) k dS −
decreased. Consequently, the full circumference magnetizer is
4 π S+ 3 like a tubular coil with excitation current, as shown in Figure
((ρ − x ) + y
2 2
+ ( h '− z) )
2 2
2b; the ring-shaped magnetizer can be designed with larger
space inside for separately disposing the magnetic sensing
(4) M
∫∫
(ρ − x ) i + yj + ( h '− z)k dS units with various sizes corresponding to different wire ropes.
4 π S− 3

((ρ − x) + y + (h'− z) )
2 2
Where, the variable h’ is the z-coordinate of an arbitrary
point. Furthermore, the magnetic field strength produced by
the ring-shaped magnet can be obtained by vector sum,
described as:
(5) H (ρ , ϕ , h ')S
+ −S−
( )
= H ρS+ , ϕ , h ' − H ρS− , ϕ , h '
Where, the S+ and S- represent the positive and negative
magnetic source field at the arbitrary point, respectively.
Finally, the magnetic flux density in the magnetized body
(relative magnetic permeability m) provided by the open
magnetization method can be calculated as:
(6) B (ρ , φ , h ') = µ × H (ρ , φ , h ')
Unlike the above-mentioned conventional magnetic yoke
method, a new ring-shaped MFL testing method is proposed
here, as displayed in Figure 2, that learns from the widespread
2 2 As a result, the provided method has the advantage of small
magnetic force interactions with the tested ropes, simple
configuration for realization, and all-purpose magnetizer char-
acteristics for various sized wire ropes.
Comparative Analyses Between Open and Yoke Method
by FEM
Finite element method (FEM) was applied to simulate and
(
) analyze the comparisons, and the two magnetization methods
presented above were modeled for the same steel wire rope
(rope diameter 32 mm and length 300 mm, dextral rope strand
number 19) with a broken wire (discontinuity diameter 1.2 mm).
The two models consist of a ring-shaped permanent magnet
(axial length 80 mm, internal diameter 70 mm, and external
diameter 100 mm) as an open magnetizer and six magnet
yokes (width 24 mm, height 20 mm, length 180 mm, leg
length 10 mm, leg spacing 100 mm, lift-off 8 mm) as a yoke
magnetizer, respectively. In the former model, to ensure the
versatility of an open magnetizer for different sized wire ropes,
radial spacing should be somewhat larger, and the size of 20 mm
is selected here. Based on practice application experience,

Z
P(ρ,Φ, z)
Ring-shaped magnet

Z1+h
Magnetic
sensing unit
Z1
Wire rope

Z1–h

Defect
(a) R ρ (b)

Figure 2. Testing principles based on open magnetizing method: (a) unattached magnetic sensing units placed inside the ring magnet; and
(b) full circumference magnetizer.

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Magnet yokes 1-6

Ring-shaped magnet

Wire rope Wire rope

(a) (b)

Figure 3. Finite element method models: (a) open method; and (b) yoke method.

Ring-shaped magnet

Magnetized wire rope

0.0 0.0
0.3 0.3
0.5 0.5
0.8 0.8
1.0 1.0
1.2 1.2
1.5 1.5
1.8 1.8

Wire rope 2.0 2.0

2.3 2.3

(a)

Magnet yokes 1-6

Magnetized wire rope 0.0

0.0
0.3 0.3

0.5 0.5

0.8 0.8

1.0 1.0

1.2 1.2

1.5 1.5

1.8 1.8

2.0 2.0

2.3 2.3

(b) Wire rope

Figure 4. Magnetization capabilities for wire ropes provided by: (a) open method; and (b) yoke method.

504 MATERIALS EVALUATION • APRIL 2017

 (E–10) (E–10)
0.5 0.1
0.2 0.2
0.5 0.6
0.8 0.8
1.0 1.1
1.3 1.4
1.6 1.7
1.8 2.0
Y
2.1 2.3
Y
2.4 O X 2.6
(a) O X (b) Z
Z

Figure 5. Magnetic interaction forces caused by: (a) open model; and (b) yoke model. O, X, Y, and Z = Cartesian coordinates.

a certain length (60 mm) of the middle of the ring-shaped
magnet is replaced by a ferrous ring-shaped configuration
with the same size, either for the installation convenience of
magnetic sensing units or for the reduction of cost. During the
course of the simulations, the coercive force and relative
magnetic permeability of permanent magnets made of NdFeB
material were respectively 490 000 A/M and 1 and all the
ferrous materials had the magnetic permeability based on
a B-H curve. The finite element chosen was Solid236, a
3-D 20-node element which is applicable to 3-D static electro-
magnetic analyses and to modeling air, iron, nonferrous mate-
rials, and permanent magnets. Additionally, Solid236 can be
used with command macros such as EMAGERR (Electro-
magnetic Relative Error) for calculating relative error and
EMFT (Electromagnetic Forces and Torques) for summa-
rizing electromagnetic forces. Two finite element models
were obtained by the usage of sweep mesh combined with
free mesh for both high resolution and fast computation, as
presented in Figures 3a and 3b, respectively.
After solving the finite element models designed above,
magnetization results of magnetic flux density B in tesla for
the steel wire ropes were obtained, as displayed in Figure 4. In
Figures 4a and 4b, it can be observed that both of the
methods produce the similar magnetic flux density at the
magnetizing center of the wire ropes and they are capable of
carrying out similar magnetically saturated statuses for the
objects. Therefore, we can draw a conclusion that the
performance of the magnetic excitation provided by the open
magnetization method for detecting defects is similar to that
supplied by the traditional yoke one.
MFL sensors accomplish their defect scanning for the
tested objects by dynamic contact and sliding friction.
Magnetic interaction force between MFL sensors and tested
objects has a great influence on the service life of both sensors
and tested objects due to wear or impact damage. Addition-
ally, a large magnetic interaction force also affects the steady
location in the center of the magnetizer and the quick
response for detaching the sensor from the tested object.
These problems are apparent in the portable inspections for
the elongated objects in service. Therefore, the magnetic
interaction force brought out by relevant methods should be
considered. Since MFL sensors are usually designed in two
half parts to encircle the tested objects, the magnetic interac-
tion force generated by the double half structures of both
magnetization methods was extracted by vector plot of
magnetic force (FMAG), as shown in Figure 5.
Furthermore, the detailed value of magnetic forces were
calculated and summarized by directly using the command
stream of FEM tool ANSYS of EMFT, and the forces were
stored as items Fx, Fy, Fz, Ftotal parameters, as shown in Table 1.
Where the items of Fx, Fy, and Fz are the magnetic force
component in Cartesian coordinate system in Table 1, and
Ftotal is the vector sum magnetic force of these components.
Figure 5 and Table 1 demonstrate that the magnetic inter-
action force produced by the yoke magnetization method is
TABLE 1
Summary results of the magnetic interaction force.
Model Types
Force Types/N Open Method Yoke Method
Fx 0.01 0.02
Fy 45.30 360.01
Fz 0.0 0.0
Ftotal 45.30 360.01

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seven times stronger than that caused by the open one, espe-
cially for the component of Fy and Ftotal. Hence, a conclusion
can be drawn that the open magnetization technique can
sense the need to detach the sensor from the tested object
more easily, and therefore causes less wear and damage
compared with the yoke technique. Consequently, the open
magnetization technique is more suitable for portable detec-
tions of hoist wire rope and has a much longer service life.
The detailed distributions of the magnetic interaction forces
to the wire ropes caused by the both magnetizers can be seen
in Figure 6.
Design of Open Magnetization MFL Sensor for Wire Rope
Regarding the primary design of the open magnetization MFL
sensor mentioned above, much attention should be focused
on the ring-shaped permanent magnet magnetizer. Similar to
the ring-shaped coil, the key elements of the ring-shaped
permanent magnet sensors are the axial length and the radial
thickness. During the simulations, to keep enough assembly
space for the magnetic sensing units, the distance between the
surface of the tested wire ropes and the inner center of the
ring-shaped magnet always remained at 20 mm. The picking
up route of magnetic field value (axial component of By and
radial component of Bz) was set to be 20 mm in axial length
and 1 mm in radial lift-off. Thereafter, by changing relevant
sizes of permanent magnet and picking up the magnetic fields
via the specified route, the MFL signal waveforms produced
Force type/N
Fx Fy
Open method
Model type
Yoke method
Figure 6. Detailed distributions of the magnetic interaction forces simulated by the open method and the yoke method.
506 MATERIALS EVALUATION • APRIL 2017
by the broken discontinuities of wire ropes were obtained as
well as the curve of their peak-to-peak value, as demonstrated
in Figure 7.
The radial thickness and inner diameter of the ring-shaped
magnet (made of NdFeB) are 10 mm and 80 mm, respectively,
while the magnet length changes from 50 mm to 350 mm in
Figure 7a. Similarly, the axial length and inner diameter (ID)
of the ring-shaped magnet are 300 mm and 80 mm, respec-
tively, while the magnet thickness changes from 10 mm to
100 mm in Figure 7b. Finally, the conclusion drawn from the
Figures 7a and 7b is that the bigger axial length and radial
thickness sizes the ring-shaped magnet have, the stronger the
MFL signals produced from wire rope discontnuities would be
when the axial length and radial thickness of the ring-shaped
magnet are respectively less than 300 mm and 70 mm. Factored
with the low cost in practice application as described previously,
the middle part of the whole ring-shaped permanent magnet is
creatively replaced by a ring-shaped ferromagnetic material,
while the two sides of the ferrous ring remain magnets. There-
fore, Figures 7c and 7d were gained, which indicate that the
MFL signals decrease with the increasing of axial length of the
ferromagnetic ring with a turning point of 80 mm, and the
MFL signal is the strongest when radial thick of the ferromag-
netic ring is 15 mm. In fact, permanent magnet ring was just
defined as 15 mm according to practice experience at that time.
Indeed, it has also been confirmed that the MFL is the strongest
when the radial thick of the ferromagnetic ring is the same as the
Fz Ftotal
 5

Magnetic flux density (T × 10–3)

50

Signal magnitude (T × 10–3)

4 75
100
125
4
150
3 200
250 3
300
350
2
2
1
1
0
0
–15 –10 –5 0 5 10 15 50 100 150 200 250 300 350
Distance (mm) Magnet length (mm)
(a)
6 6
Magnetic flux density (T × 10–3)

10

Signal magnitude (T × 10–3)

20
5 30
40
5
50
4 60
70
4
3 80
90
100 3
2
2
1
0 1

–0.1 0
–15 –10 –5 0 5 10 15 10 20 30 40 50 60 70 80 90 100
(b) Distance (mm) Magnet length (mm)
5 3.65
Magnetic flux density (T × 10–3)

10
Signal magnitude (T × 10–3)

20 3.6
4 30
40 3.55
50
3 60
70
3.5
80
90
3.45
2 100
3.4
1 3.35
3.3
0
3.25
–0.1 3.2
–15 –10 –5 0 5 10 15 10 20 30 40 50 60 70 80 90 100
(c) Distance (mm) Magnet length (mm)
3.5 3.4
Magnetic flux density (T × 10–3)

5
Signal magnitude (T × 10–3)

3 10 3.3
15
20
2.5 25 3.2
30
2 3.1
1.5 3
1 2.9
0.5 2.8
0 2.7
–0.5
–15 –10 –5 0 5 10 15 5 10 15 20 25 30
(d) Distance (mm) Magnet length (mm)

Figure 7. The magnetic flux leakage signals of a broken-wire discontinuity with the changing of ring-shaped open magnetization MFL sensor
sizes: (a) the MFL signals of a broken-wire discontinuity with the changing of axial length of ring-shaped magnet; (b) the MFL signals of a
broken-wire discontinuity with the changing of radial thick of ring-shaped magnet; (c) the MFL signals of a broken-wire discontinuity with the
changing of axial length of the ferromagnetic ring between two magnet rings; (d) the MFL signals of a broken-wire discontinuity with the
changing of radial thick of the ferromagnetic ring between two magnet rings.

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permanent magnet ring by additional simulations. As a result,
and combined with practice engineering application, the
ferromagnetic ring is designed to be 80 mm in axial length
and 15 mm in radial thick, and the inner diameter is at least
70 mm to meet the testing requirement for various detected
objects with different sizes.
As for the turning point at 80 mm, it may be caused by the
redistribution of the magnetic circuit. Specifically, when the
axial length of the ferromagnetic ring is less than 70 mm, the
magnetic field is mainly produced by the magnetic circuit
formed by both the magnet ring and the ferromagnetic ring,
and the magnetic circuit may only be formed by a magnet ring
Ring-shaped magnet
(with ferrous part
in the middle)
Ring-shaped shoe
(magnetic sensing units)
Figure 8. Open magnetization magnetic flux leakage sensor for steel
wire rope testing.
at one side of the ferromagnetic ring larger than 80 mm. So,
the MFL signals may be bigger than 70 mm, and a turning
point is therefore formed.
Based on the simulation and size optimization described,
the open magnetization MFL sensor for wire ropes is
designed, as displayed in Figure 8, as simply composed of two
parts: a ring-shaped magnet and its unattached ring-shaped
shoe, including magnetic sensing units. The size specifications
of ring-shaped shoes can be immediately met by changing the
internal diameters, and one ring-shaped sensor can easily
accomplish all of the detections for different sized objects just
by replacing the relevant size specifications of ring-shoes.
Specifically, the middle length of the ring-magnet in its axial
orientation is designed to be replaced by a ferromagnetic ring
so that the unattached ring-shaped shoes could easily be fixed
inside the inner ring and the whole cost could be reduced.
Because of this, the hoist wire ropes are fixed by carrying
cages at both sides and have no head and tail, and the
designed open magnetizing sensor is easily designed into two
half structures in practice, which merely have the configura-
tion sizes of 120 mm (length) × 100 mm (diameter) and just
weigh about 1.5 kg, which is a small volume and weight.
As indicated in Figure 9, the open magnetization MFL
sensor was tested for the detection capability of a manmade
broken-wire discontinuity in a wire rope (F 32 mm) and the
magnetic force interaction with the tested wire rope. During
the course of experimental testing for detection capability,

Single broken wire

Data analysis
system

Amplifier
(b)

Wire
rope
Filter and A/D
converter

Test signal

Open sensor
for wire pipe

(c)
(a)

Figure 9. Experimental results of the discontinuity detection capability and magnetic interaction forces: (a) testing results of open sensor; (b)
open sensor with 69N magnetic forces; and (c) yoke sensor with 360 N magnetic forces.

508 MATERIALS EVALUATION • APRIL 2017

the sensor was connected with an amplifier, a filter, an A/D
converter, and a data analysis system in serials. By linear axial
scanning along the rope, the output signals from the artificial
broken wire were finally acquired, demonstrating that the
proposed MFL sensor has the inspection capability even for a
single broken wire, as the traditional yoke sensor does. Most
notably, the testing for the magnetic interaction force
produced by the created open sensor is only 69.2 N, while
that caused by the traditional yoke one is over 360 N, which
demonstrates that the new proposed open magnetization
sensor features a much weaker magnetic interaction force
compared with the yoke sensor and is in accord with the theo-
retically FEM analyses previously done.
Conclusion
Hoist wire ropes are critical components, responsible for the
safety of people’s life and property. They definitely need to be
inspected online with an automatic, remote technique that
always runs in high-speed with large-swaying conditions, and
is also beyond the capability of the traditional portable
magnetic-yoke MFL defect detection instrument due to its
strong magnetic force and large weight. The proposed new
sensor based on the open magnetization method is character-
ized by weaker magnetic interaction force and similar magne-
tization capability compared to the traditional yoke method.
Therefore, the novel testing sensor of the MFL testing
method with these advantages is more suitable for portable
discontinuity detections of hoist wire ropes. It features a good
signal-to-noise rate caused by reducing magnetic noises
produced by rope-swaying, little wear or damage, and a full
automatic detection process. Meanwhile, the new testing
sensor with preponderant characteristics further enhances the
capability of addressing the challenges of portable hoist wire
ropes to keep a constant lift-off distance for scanning. The
final practice applications confirm the availability and validity
of the portable MFL testing apparatus for the nondestructive
testing of hoist ropes under poor working conditions.
ACKNOWLEDGMENT
This paper was financially supported by the National Natural Science
Foundation of China (51475194), the National Key Basic Research
Program of China (2014CB046706), and the Fundamental Research
Funds for the Central Universities (Grant No. 2015MS015).
The authors would like to acknowledge the contribution of Rui Li, Wenjia
Ma, Xiaohe Tian, and Rui Tang of the School of Mechanical Science &
Engineering, Huazhong University of Science and Technology, Wuhan,
430074 China.
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