[1] Univ Cambridge, Dept Appl Math & Theoret Phys, Cambridge CB3 0WA, England
[2] Univ British Columbia, Dept Mech Engn, Vancouver, BC V6T 1Z4, Canada
[3] Univ British Columbia, Dept Elect & Comp Engn, Vancouver, BC V6T 1Z4, Canada
[4] Univ British Columbia, Dept Math, Vancouver, BC V6T 1Z2, Canada