1. 1Mechanical and Civil Engineering, California Institute of Technology, Pasadena, California, U.S.A.
2. 2Geology and Planetary Science Division, California Institute of Technology, Pasadena, California, U.S.A.
3. 3Computing and Mathematical Science, California Institute of Technology, Pasadena, California, U.S.A.
4. 4Electrical Engineering, California Institute of Technology, Pasadena, California, U.S.A.
5. 5Shell Global Solutions International B.V., Amsterdam, The Netherlands