1. Department of Computer Science, University of California, Santa Barbara, CA 93106, USA. ibarra@cs.ucsb.edu
2. School of Electrical Engineering & Computer Science, Washington State University, Pullman, WA 99164, USA. ccui@eecs.wsu.edu
3. School of Electrical Engineering & Computer Science, Washington State University, Pullman, WA 99164, USA. zdang@eecs.wsu.edu
4. School of Electrical Engineering & Computer Science, Washington State University, Pullman, WA 99164, USA. fischer@eecs.wsu.edu