1. The University of Michigan, 2010 Walter E Lay Auto Lab, 1231 Beal Avenue, Ann Arbor, Michigan 48109, USA
2. Delft University of Technology, Mekelweg 2, 2628 CD, Delft, The Netherlands
3. The University of Michigan, Room 215, 2600 Draper Drive, Ann Arbor, Michigan 48109, USA