1. Graduate School of Mathematical Sciences, The University of Tokyo 1 , Tokyo 153-8914, Japan
2. Research Institute for Electronic Science, Hokkaido University 2 , Sapporo 001-0020, Japan
3. Department of Informatics, Faculty of Engineering, Kindai University 3 , Higashi-Hiroshima 739-2116, Japan
4. Department of Mathematics, Hokkaido University 4 , Sapporo 060-0810, Japan
5. School of Mathematics, Nanjing University of Aeronautics and Astronautics 5 , Nanjing 211106, People’s Republic of China
6. Key Laboratory of Mathematical Modelling and High Performance Computing of Air Vehicles (NUAA), MIIT 6 , Nanjing 211106, China
7. Nanjing Center for Applied Mathematics 7 , Nanjing 211135, People’s Republic of China