1. School of Computer Science and Applied Mathematics, University of Witwatersrand, Johannesburg, Private Bag 3, Wits 2050, South Africa
2. Mathematics and Statistics Department, University of Malawi, The Malawi Polytechnic, Private Bag 303, Chichiri, Blantyre 3, Malawi
3. Department of Applied Physics and Engineering Mathematics, University of Johannesburg, South Africa