[1] Northumbria Univ, Dept Math Phys & Elect Engn, Newcastle Upon Tyne NE1 8ST, England
[2] Univ Birmingham, Sch Engn, Space Environm & Radio Engn, Birmingham B15 2TT, England
[3] Univ Exeter, Dept Earth & Environm Sci, Penryn TR10 9FE, England
[4] Univ Exeter, Dept Math & Stat, Exeter EX4 4QF, England