[1] Univ Calif Santa Barbara, Dept Mech & Environm Engn, Santa Barbara, CA 93106 USA
[2] Kyushu Inst Technol, Dept Biochem Sci & Engn, Izuka 8208502, Japan
[3] CALTECH, Dept Control & Dynam Syst, Pasadena, CA 91125 USA
[4] Univ Calif San Francisco, Dept Stomatol, San Francisco, CA 94143 USA
[5] Univ Calif San Francisco, Dept Microbiol & Immunol, San Francisco, CA 94143 USA