[1] Russian Acad Sci, Inst Problems Mech Engn, St Petersburg 199178, Russia
[2] Bordeaux INP, Bordeaux, France
[3] Equipage Innovat SARL, Plerin, France
[4] Univ Talca, Inst Matemat & Fis, Casilla 747, Talca, Chile
[5] Univ Lyon 1, UMR CNRS 5208, Inst Camille Jordan, F-69622 Villeurbanne, France
[6] INRIA Lyon La Doua, INRIA Team Dracula, F-69603 Villeurbanne, France
[7] RUDN Univ, Peoples Friendship Univ Russia, 6 Miklukho Maklaya St, Moscow 117198, Russia
[8] UMI CNRS 2615, Poncelet Ctr, 11 Bolshoy Vlasyevskiy, Moscow 119002, Russia