1. Department of Electrical and Computer Engineering, Northeastern University 1 , Boston, Massachusetts 02115, USA
2. Draper Scholar, Charles Stark Draper Laboratory 2 , Cambridge, Massachusetts 02139, USA
3. Charles Stark Draper Laboratory 3 , Cambridge, Massachusetts 02139, USA
4. Department of Mechanical and Industrial Engineering, Northeastern University 4 , Boston, Massachusetts 02115, USA