[1] CNR, Inst Matemat Appl & Tecnol Informat, I-27100 Pavia, Italy
[2] Univ Paris 06, UPMC, Lab Jacques Louis Lions, UMR 7598, F-75005 Paris, France
[3] Brown Univ, Div Appl Math, Providence, RI 02912 USA
[4] MIT, Dept Mech Engn, Cambridge, MA 02139 USA
[5] Univ Grenoble 1 Joseph Fourier, Lab Jean Kuntzmann, F-38041 Grenoble 9, France
[6] Univ Paris 09, CEREMADE, F-75016 Paris, France