1. Massachusetts Institute of Technology, Cambridge, MA 02139
2. Singapore University of Technology and Design, Engineering Product Development Pillar, International Design Centre, 138682Singapore e-mail:
3. Engineering Product Development Pillar, International Design Centre, Singapore University of Technology and Design, 138682Singapore e-mail:
4. Massachusetts Institute of Technology, Cambridge, MA 02139 e-mail:
5. Singapore University of Technology and Design, Engineering Product Development Pillar, International Design Centre, 138682, Singapore e-mail: