* Corresponding authors

^a School of Life Sciences and Technology, Harbin Institute of Technology, Harbin 150080, China

^b State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China
E-mail: dhj@hit.edu.cn

^c State Key Laboratory of Urban Water Resource and Environment, Harbin Institute of Technology, Harbin 150090, China

^d Key Laboratory of UV Light Emitting Materials and Technology Under Ministry of Education, Northeast Normal University, Changchun 130024, China
E-mail: libs@nenu.edu.cn

^e School of Mathematics, Computer Science and Engineering, City, University of London, London, UK