1. Nonlinear and Complex Systems Group, Department of Mathematical Sciences, Lough-borough University, Loughborough, Leicestershire LE11 3TU, U.K.
2. Computational and Engineering Design Centre, Department of Aeronautics and Astronautics, University of Southampton, Southampton, SO17 1BJ, U.K.
3. Department of Mathematics, University of Chicago, Chicago, IL 60637, U.S.A.