1. School of Operations Research and Information Engineering, Cornell University, 228 Rhodes Hall, Ithaca, NY 14853, USA
2. Sibley School of Mechanical and Aerospace Engineering, Department of Mathematics, Cornell University, 535 Malott Hall, Ithaca, NY 14853, USA
3. Department of Mathematics, Cornell University, 582 Malott Hall, Ithaca, NY 14853, USA