[1] Univ Toronto, Dept Mech & Ind Engn, 5 Kings Coll Rd, Toronto, ON M5S 3G8, Canada
[2] McGill Univ, Dept Mech Engn, 817 Sherbrooke St West, Montreal, PQ H3A 0C3, Canada
[3] McGill Univ, Dept Min & Mat Engn, 3610 Rue Univ, Montreal, PQ H3A 0C5, Canada
[4] McGill Univ, Dept Elect & Comp Engn, 3480 Rue Univ, Montreal, PQ H3A 0E9, Canada
[5] MIT, Dept Mat Sci & Engn, Cambridge, MA 02139 USA
[6] Univ Michigan, Dept Elect Engn & Comp Sci, Ann Arbor, MI 48109 USA