[1] Univ Oxford, Dept Comp Sci, Oxford, England
[2] Univ Oxford, Math Inst, Oxford, England
[3] Univ Nottingham, Sch Math Sci, Nottingham, England
[4] Univ Manchester, Wellcome Trust Ctr Cell Matrix Res, Manchester, Lancs, England
[5] Cardiff Univ, Sch Biosci, Cardiff, S Glam, Wales
[6] Univ Melbourne, Sch Math & Stat, Melbourne, Vic, Australia