1. Charles University, Faculty of Mathematics and Physics, Ke Karlovu 3, 12116 Prague 2, Czech Republic.
2. Academy of Sciences of the Czech Republic, Institute of Information Theory and Automation, Pod Vodárenskou věží 4, 18208, Prague 8, Czech Republic.
3. Department of Applied Mathematics, University of Waterloo, Waterloo, ON N2L 3G1, Canada.