[1] Univ Tecn Lisboa, Dept Math, P-1049001 Lisbon, Portugal
[2] Univ Tecn Lisboa, Inst Super Tecn, CEMAT IST, P-1049001 Lisbon, Portugal
[3] Czech Tech Univ, Fac Mech Engn, Dept Tech Math, Prague 12135 2, Czech Republic
[4] Texas A&M Univ, Dept Mech Engn, College Stn, TX 77843 USA