Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, Wisconsin, United States of America.|Mathematical Institute, University of Oxford, Oxford, United Kingdom.|UMR CNRS 5276 LGL-TPE, Université Lyon1, 69622 Villeurbanne Cedex, France.|Mathematical Institute, University of Oxford, Oxford, United Kingdom.|Departments of Mechanical Engineering and Mathematics, Michigan Institute for Computational Discovery & Engineering, University of Michigan, Ann Arbor, Michigan, United States of America.