Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, 94720, CA, USA. yhchang@berkeley.edu.|Department of Biomedical Engineering and the Center for Spatial Systems Biomedicine, Oregon Health and Science University, Portland, OR, USA. grayjo@ohsu.edu.|Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, 94720, CA, USA. tomlin@eecs.berkeley.edu.