Parsing XML with namespaces into a dataframe

I have the following simpplified XML:

<?xml version="1.0" encoding="UTF-8"?>
<soap:Envelope xmlns:xsd="http://ift.tt/tphNwY" xmlns:xsi="http://ift.tt/ra1lAU"
 xmlns:soap="http://ift.tt/18hkEkn"> 
    <soap:Body>
        <ReadResponse xmlns="ABCDEFG.com">
            <ReadResult>
                <Value>
                    <Alias>x1</Alias>
                    <Timestamp>2013-11-11T00:00:00</Timestamp>
                    <Val>113</Val>
                    <Duration>5000</Duration>
                    <Quality>128</Quality>
                </Value>
                <Value>
                    <Alias>x1</Alias>
                    <Timestamp>2014-11-11T00:02:00</Timestamp>
                    <Val>110</Val>
                    <Duration>5000</Duration>
                    <Quality>128</Quality>
                </Value>
                <Value>
                    <Alias>x2</Alias>
                    <Timestamp>2013-11-11T00:00:00</Timestamp>
                    <Val>101</Val>
                    <Duration>5000</Duration>
                    <Quality>128</Quality>
                </Value>
                <Value>
                    <Alias>x2</Alias>
                    <Timestamp>2014-11-11T00:02:00</Timestamp>
                    <Val>122</Val>
                    <Duration>5000</Duration>
                    <Quality>128</Quality>
                </Value>
            </ReadResult>
        </ReadResponse>
    </soap:Body>
</soap:Envelope>

and would like to parse it into a dataframe with the following structure (keeping some of the tags and discarding the rest):

Timestamp                x1    x2
2013-11-11T00:00:00      113  101
2014-11-11T00:02:00      110  122

The problem is since the XML file includes namespaces, I don't know how to proceed. I have gone through several tutorials (e.g., http://ift.tt/1rjd5Ef) and questions (e.g., How to open this XML file to create dataframe in Python? and Parsing XML with namespace in Python via 'ElementTree') but none of them have helped/worked. I appreciate if anyone can help me sorting this out.