[1] Coll Engn Math & Phys Sci, Exeter EX4 4PY, Devon, England
[2] Alan Turing Inst, London NW1 2DB, England
[3] Univ Bath, Dept Math Sci, Bath BA2 7AY, Avon, England
[4] Univ Bath, Dept Mech Engn, Bath BA2 7AY, Avon, England
[5] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL 32611 USA
[6] Heidelberg Univ, Inst Appl Math, D-69120 Heidelberg, Germany
[7] Heidelberg Univ, Interdisciplinary Ctr Sci Comp, D-69120 Heidelberg, Germany