1. Department of Systems Engineering, Military Technological College 1 , Muscat, Oman
2. Department of Engineering Mathematics, University of Bristol 2 , Bristol, United Kingdom
3. Department of Physics, University of California 3 , Berkeley, California 94720, USA
4. School of Mathematics and Applied Statistics, University of Wollongong 4 , Wollongong, NSW 2522, Australia
5. Institut für Mathematik, Universität Oldenburg 5 , D26111 Oldenburg, Germany