[1] UNIV EDINBURGH, DEPT MATH, KINGS BLDG, EDINBURGH EH9 3JZ, MIDLOTHIAN, SCOTLAND
[2] REG ENGN COLL, DEPT ELECT & COMMUN ENGN, Tiruchirappalli 620015, INDIA
[3] UNIV STRATHCLYDE, CTR MARINE TECHNOL, GLASGOW G4 0LZ, SCOTLAND
[4] UNIV NOTTINGHAM, DEPT THEORET MECH, NOTTINGHAM NG7 2RD, ENGLAND