1. Palo Alto Research Center, a part of SRI International 1 , Palo Alto, California 94304, USA
2. Department of Mechanical Engineering, The University of Iowa 2 , Iowa City, Iowa 52242, USA
3. U.S. Army Combat Capabilities, Development Command (DEVCOM) Army Research Laboratory 3 , Aberdeen Proving Ground, Maryland 21005, USA
4. Department of Chemistry, University of Missouri 4 , Columbia, Missouri 21005, USA
5. Department of Mechanical, Aerospace and Nuclear Engineering, Rensselaer Polytechnic Institute 5 , Troy, New York 21005, USA