1. Departament de Matemàtica Aplicada IV, Universitat Politècnica de Catalunya, Campus Nord, Edifici C3, J. Girona Salgado 1-3, 08034 Barcelona, Catalunya, Spain
2. Department of Computer Science, Concordia University, Montreal, QC, H3G 1M8, Canada
3. School of Computing Science, Simon Fraser University, Burnaby, B.C. V5A 1S6, Canada