1. Department of Electrical and Computer Engineering, Schulich School of Engineering, University of Calgary, Calgary, AB, Canada T2N 1N4
2. School of Engineering, University of Guelph, Guelph, ON, Canada N1G 2W1
3. Department of Industrial and Systems Engineering, P. C. Rossin College of Engineering and Applied Science, Lehigh University, Bethlehem, PA 18015, USA