1Calgary Center for Innovative Technology, University of Calgary, University Drive NW, Calgary, Alberta, Canada, E-mail: rmartinu@ucalgary.ca
2Mechanical and Manufacturing Engineering Department, University of Calgary, University Drive NW, Calgary, Alberta, Canada, E-mail: rmartinu@ucalgary.ca
3Chemical and Petroleum Engineering Department, University of Calgary, University Drive NW, Calgary, Alberta, Canada, E-mail: rmartinu@ucalgary.ca