[1] Princeton Univ, Dept Elect & Comp Engn, Princeton, NJ 08544 USA
[2] Princeton Univ, Dept Comp Sci, Princeton, NJ 08544 USA
[3] Natl Cheng Kung Univ, Miin Wu Sch Comp, Tainan 701, Taiwan
[4] Cornell Univ, Dept Elect & Comp Engn, Ithaca, NY 14850 USA
[5] Univ Edinburgh, Sch Engn, Edinburgh EH8 9YL, Scotland
[6] Univ Calif Santa Barbara, Dept Comp Sci, Santa Barbara, CA 93106 USA