1. Mathematics Department, Volga State Academy, 5, Nesterov st., Nizhny Novgorod 603 600, Russia
2. Laboratory of Nonlinear Systems, Swiss Federal Institute of Technology Lausanne (EPFL), EPFL-IC-ISC-LANOS, Station 14, 1015 Lausanne, Switzerland
3. Department of Physics, The Technical University of Denmark, 2800 Kongens Lyngby, Denmark