1. Department of Mechanical Engineering, École polytechnique fédérale de Lausanne, MED 1 1017 (Batiment MED), Station 9, Lausanne 1015, Switzerland e-mail:
2. Raytheon Integrated Defense Systems, 362 Lowell Street, Andover, MA 01810 e-mail:
3. Department of Mechanical Engineering, Stanford University, 440 Escondido Mall, Building 530 Room 223, Stanford, CA 94305 e-mail:
4. Department of Electrical and Computer Engineering, Purdue University, BRK 2266, 465 Northwestern Avenue, West Lafayette, IN 47907 e-mail: