1. Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, Michigan 48109-2122, USA
2. Department of Chemical Engineering, University of Michigan, Ann Arbor, Michigan 48109-2136, USA
3. Department of Nuclear Engineering, North Carolina State University, Raleigh, North Carolina 27695-7909, USA
4. Mechatronics R&D Center, Samsung Electronics Co., Ltd., 1-1 Samsungjeonja-ro, Hwaseong-si, Gyeonggi-do 18448, South Korea