[1] MIT, Dept Elect Engn & Comp Sci, Cambridge, MA 02139 USA
[2] Swiss Fed Inst Technol, Inst Environm Engn, Dept Civil Environm & Geomat Engn, Zurich, Switzerland
[3] Univ Southern Calif, Dept Biol Sci, Los Angeles, CA 90007 USA
[4] Univ Tsukuba, Fac Life & Environm Sci, Tsukuba, Ibaraki, Japan
[5] Univ Edinburgh, Sch Engn, Inst Bioengn, Edinburgh, Midlothian, Scotland
[6] Swiss Fed Inst Technol, Dept Mech & Proc Engn, Inst Dynam Syst & Control, Zurich, Switzerland
[7] Lawrence Berkeley Natl Lab, Ecol Dept, Earth & Environm Sci, Berkeley, CA 94720 USA