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