[1] Ecole Polytech Fed Lausanne, Inst Math, MNS, Lausanne, Switzerland
[2] IMATI CNR, I-27100 Pavia, Italy
[3] ABB Corp Res Ctr, Baden, Switzerland
[4] Politecn Torino, Dipartimento Sci Matemat GL Lagrange, Turin, Italy
[5] GNCS INdAM Grp, Lucca, Italy
[6] Univ Santiago De Compostela, Dept Matemat Aplicada, Santiago De Compostela, Spain
[7] Inria, F-75589 Paris, France
[8] Ecole Ponts, CERMICS, F-77455 Marne La Valllee, France