1. Department of Mathematics and Statistics, University of Massachusetts, Amherst, Massachusetts 01003-4515, USA
2. Nonlinear Dynamical Systems Group, Computational Sciences Research Center, San Diego State University, San Diego, California 92182-7720, USA
3. Department of Physics, National and Kapodistrian University of Athens, Panepistimiopolis, Zografos, Athens 15784, Greece