1. NanoRobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, École Polytechnique de Montréal (EPM), Campus of the Université de Montréal, P.O. Box 6079, Station Centre-ville, Montréal, Québec, Canada H3C 3A7,
2. NanoRobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, École Polytechnique de Montréal (EPM), Campus of the Université de Montréal, P.O. Box 6079, Station Centre-ville, Montréal, Québec, Canada H3C 3A7