[1] Cornell Univ, Operat Res & Informat Engn, Ithaca, NY 14853 USA
[2] OVGU Magdeburg, Fak Mathemat, Univ Pl 2, D-39106 Magdeburg, Germany
[3] Univ Southern Calif, Daniel J Epstein Dept Ind & Syst Engn, Los Angeles, CA 90089 USA
[4] Chinese Acad Sci, Inst Computat Math & Sci Engn Comp, Beijing 100080, Peoples R China