Department of Computer Science, Pacific Lutheran University, WA 98447, USA.|Department of Computer Science, University of Missouri, Columbia, MO 65211, USA.|Department of Electrical Engineering and Computer Science, Wichita State University, Wichita, KS 67260-0083, USA.|Department of Electrical and Computer Engineering.|Department of Computer Science, University of Missouri, Columbia, MO 65211, USA.|Department of Computer Science, University of Missouri, Columbia, MO 65211, USA.