1. a School of Computing, University of Utah, Salt Lake City, UT 84112, USA;, Email: art.mahoney@utah.edu
2. b Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112, USA
3. c Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112, USA
4. d Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112, USA