[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
[2] CINTRA CNRS NTU THALES, UMI 3288, Singapore 637553, Singapore
[3] Natl Univ Singapore, Dept Mech Engn, Singapore 117576, Singapore
[4] Temasek Labs NTU, Singapore 639798, Singapore
[5] Nanyang Technol Univ, Sch Mat Sci & Engn, Singapore 639798, Singapore