1. Institut National de la Recherche Scientifique, Centre Énergie, Matériaux et Télécommunications, Université du Québec, 1650 Boul. Lionel-Boulet, Varennes, Quebec J3X 1S2, Canada
2. NanoRobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, Polytechnique Montréal, Montreal, Quebec H3T 1J4, Canada
3. Department of Chemistry and Biochemistry, Concordia University, Montreal, Quebec H4B 1R6, Canada
4. Department of Mechanical and Industrial Engineering, University of Toronto, 5 King’s College Road, Toronto, Ontario M5S 3G8, Canada