Department of Computer Science, Utah State University, Logan, Utah 84341, USA. cyan@cc.usu.edu|Department of Computer Science, Utah State University, Logan, Utah 84341, USA. cyan@cc.usu.edu|Department of Computer Science, Utah State University, Logan, Utah 84341, USA. cyan@cc.usu.edu|Department of Computer Science, Utah State University, Logan, Utah 84341, USA. cyan@cc.usu.edu|Department of Computer Science, Utah State University, Logan, Utah 84341, USA. cyan@cc.usu.edu|Department of Computer Science, Utah State University, Logan, Utah 84341, USA. cyan@cc.usu.edu