Advances in Mechanics and Mathematics Volume 42 Series editors David Gao, Federation University Australia Tudor Ratiu, Shanghai Jiao Tong University Advisory Board Antony Bloch, University of Michigan John Gough, Aberystwyth University Darryl D. Holm, Imperial College London Peter Olver, University of Minnesota Juan-Pablo Ortega, University of St. Gallen Genevieve Raugel, CNRS and University Paris-Sud Jan Philip Solovej, University of Copenhagen Michael Zgurovsky, Igor Sikorsky Kyiv Polytechnic Institute Jun Zhang, University of Michigan Enrique Zuazua, Universidad Autόnoma de Madrid and DeustoTech Kenneth C. Land, Duke University More information about this series at http://www.springer.com/series/5613