David I. Urbina1, Jairo Giraldo1, Alvaro A. Cardenas1, Nils Ole Tippenhauer2, Junia Valente 1 , Mustafa Faisal 1 , Justin Ruths 1 , Richard Candell 3 , and Henrik Sandberg 4 1 University of Texas at Dallas, 2 Singapore University of Technology and Design,