1. Department of Mathematics and Statistics, Queens University, ON K7L 3N6, Canada himesh.bhatia@queensu.ca
2. Johns Hopkins University Applied Physics Laboratory, Laurel, MD 20723, U.S.A. william.paul@jhuapl.edu
3. Department of Mathematics and Statistics, Queens University, ON K7L 3N6, Canada fa@queensu.ca
4. Department of Mathematics and Statistics, Queens University, ON K7L 3N6, Canada bahman.gharesifard@queensu.ca
5. Johns Hopkins University Applied Physics Laboratory, Laurel, MD 20723, and Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, U.S.A. philippe.burlina@jhuapl.edu