1. Department of Computational Mathematics and Cybernetics, Nizhny Novgorod State University, 23 Gagarin Ave., Nizhny Novgorod 603950, Russia
2. Institute for Problems in Mechanics of Russian Academy of Sciences, 101-1 Prospect Vernadskogo, Moscow 119526, Russia
3. Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer’s Way, P.O. Box 400746, Charlottesville, VA 22904-4746, USA