1. School of Mathematics, Statistics Applied Mathematics, National University of Ireland Galway, Galway, Ireland
2. School of Mechanical Materials Engineering, University College Dublin, Belfield, Dublin 4, Ireland
3. School of Computing and Mathematics, Keele University, Keele, Staffordshire ST5 5BG, UK
4. Dipartimento di Ingegneria Enzo Ferrari, via Vignolese 905, 41125 Modena, Italy