1. Johns Hopkins University, Department of Computer Science, 3400 North Charles Street, Baltimore, Maryland 21218, United States
2. Duke University, Department of Biomedical Engineering, 101 Science Drive Campus Box 90281, Durham, North Carolina 27708, United States
3. Johns Hopkins University, Department of Electrical and Computer Engineering, 3400 North Charles Street, Baltimore, Maryland 21218, United States
4. Johns Hopkins University, Department of Computer Science, 3400 North Charles Street, Baltimore, Maryland 21218, United StatescJohns Hopkins University, Department of Electrical and Computer Engineering, 3400 North Charles Street, Baltimore, Maryland 21218