[1] Univ Waterloo, Dept Elect & Comp Engn, 200 Univ Ave West, Waterloo, ON N2L 3G1, Canada
[2] Univ Waterloo, Dept Syst Design Engn, Waterloo, ON N2L 3G1, Canada
[3] Univ Western Ontario, Dept Mech & Mat Engn, London, ON N6A 5B9, Canada
[4] Def R&D Canada DRDC, Dept Natl Def, Ctr Secur Sci CSS, Natl Def Headquarters, Ottawa, ON K1K 0K2, Canada