[1] Inria Sophia Antipolis, Biot, France
[2] Flinders Univ South Australia, Coll Sci & Engn, Bedford Pk, SA 5042, Australia
[3] MSU, Fac Mech & Math, GSP-1,1 Leninskiye Gory, Moscow 119991, Russia
[4] Univ Queensland, Sch Math & Phys, Ctr Applicat Nat Resource Math, St Lucia, Qld 4072, Australia