1. School of Information and Physical Sciences, University of Newcastle 1 , Callaghan, NSW 2308, Australia
2. School of Mathematics, Physics and Computing, University of Southern Queensland 2 , Toowoomba, QLD 4350, Australia
3. Department of Applied Mathematics, Nizhny Novgorod State Technical University n.a. R.E. Alekseev, Nizhny Novgorod 3 603950, Russia