Advanced Computational Modelling Centre, University of Queensland Brisbane, QLD 4072, Australia. tian@maths.uq.edu.au|Advanced Computational Modelling Centre, University of Queensland Brisbane, QLD 4072, Australia. tian@maths.uq.edu.au|Advanced Computational Modelling Centre, University of Queensland Brisbane, QLD 4072, Australia. tian@maths.uq.edu.au|Advanced Computational Modelling Centre, University of Queensland Brisbane, QLD 4072, Australia. tian@maths.uq.edu.au