[1] KTH Royal Inst Technol, Sch Elect Engn & Comp Sci, Space & Plasma Phys, SE-10044 Stockholm, Sweden
[2] Univ Iceland, Sci Inst, Dunhaga 3, IS-107 Reykjavik, Iceland
[3] Michigan State Univ, Dept Computat Math Sci & Engn, E Lansing, MI 48824 USA
[4] Michigan State Univ, Dept Elect & Comp Engn, E Lansing, MI 48824 USA
[5] Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA