[1] Univ Politecn Catalunya, Dept Matemat Aplicada 3, Barcelona, Spain
[2] Miami Univ, Dept Math & Stat, Oxford, OH 45056 USA
[3] Univ Newcastle, Dept Comp Sci & Software Engn, Callagham, NSW 2308, Australia
[4] Univ Ballarat, Sch Informat Technol & Math Sci, Ballarat, Vic 3353, Australia