a Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250014, China

b Shandong Provincial Key Laboratory of Industrial Network and Information System Security, Shandong Fundamental Research Center for Computer Science, Jinan 250014, China

c School of Electrical and Computer Engineering, The University of Sydney, Sydney, NSW 2006, Australia

d State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou 310027, China

*E-mail address:lunarheart@zju.edu.cn (P. Cheng).