1. School of Electronics and Computer Science, University of Southampton, Southampton SO17 1BJ, England
2. Jaguar Cars Limited, Whitley Engineering Center, Coventry CV3 4LF, England
3. Statistical Sciences Research Institute, School of Mathematics, University of Southampton, Southampton SO17 1BJ, England
4. School of Mathematics, University of Southampton, Southampton SO17 1BJ, England
5. Department of Statistics, Ohio State University, Columbus, OH 43210-1247, USA
6. School of Engineering Sciences, University of Southampton, Southampton SO17 1BJ, England
7. Department of Mathematics, University of Oxford, Oxford OX1 3LB, England