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The research leading to these results has received funding from the European Research Council under the European Community's Seventh Framework Programme (FP7/2007-2013)/ERC grant agreement No. 239870. This publication was based on work supported in part by Award No KUK-C1-013-04, made by King Abdullah University of Science and Technology (KAUST). Stefan Hellander has been supported by the National Institute of Health under Award no. 1R01EB014877-01, the Swedish Research Council, and by the NSF Award DMS-1001012. Radek Erban would also like to thank Brasenose College, University of Oxford, for a Nicholas Kurti Junior Fellowship; the Royal Society for a University Research Fellowship; and the Leverhulme Trust for a Philip Leverhulme Prize.