[1] Univ Bath, Dept Mech Engn, Bath BA2 7AY, Avon, England
[2] Centrum Wiskunde Informat, Amsterdam, Netherlands
[3] Univ Bristol, Dept Engn Math, Bristol BS8 1TR, Avon, England
[4] Univ Bath, Dept Math Sci, Bath BA2 7AY, Avon, England
[5] Natl Phys Lab, Teddington TW11 0LW, Middx, England