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Acknowledgements
Received by the editors November 3, 2009; accepted for publication (in revised form) July 6, 2010; published electronically October 5, 2010. This publication was based on work supported in part by award SA-C0040/UK-C0016 from King Abdullah University of Science and Technology (KAUST), Hong Kong RGC-CERG grants 603107 and 604209, the National Basic Research Program of China under project 2009CB623200, and the State Key Laboratory of Scientific and Engineering Computing.