Computer Science and Engineering Department, University of Michigan, Ann Arbor, MI, USA. ffarfan@umich.edu|Computer Science and Engineering Department, University of Michigan, Ann Arbor, MI, USA. ffarfan@umich.edu|Computer Science and Engineering Department, University of Michigan, Ann Arbor, MI, USA. ffarfan@umich.edu|Computer Science and Engineering Department, University of Michigan, Ann Arbor, MI, USA. ffarfan@umich.edu|Computer Science and Engineering Department, University of Michigan, Ann Arbor, MI, USA. ffarfan@umich.edu