1. Predictive Science Inc., 9990 Mesa Rim Road Suite 170, San Diego, California 92121, USA
2. Nonlinear Dynamical Systems Group, Computational Science Research Center, and Department of Mathematics and Statistics, San Diego State University, San Diego, California 92182-7720, USA
3. Department of Mathematics and Statistics, University of Massachusetts, Amherst, Massachusetts 01003-4515, USA