1. Department of Mathematics, School of Science, Computing and Engineering Technologies, Swinburne University of Technology, P.O. Box 218, Hawthorn, Victoria 3122, Australia
2. Mechanical and Aerospace Engineering, Brunel University London, Kingston Lane, Uxbridge UB8 3PH, United Kingdom
3. Department of Mechanical Engineering, Imperial College London, South Kensington Campus, Exhibition Road, London SW7 2AZ, United Kingdom
4. School of Science, RMIT University, GPO Box 2476, Victoria 3001, Australia