1. School of Mathematical Sciences, University of Nottingham, Nottingham NG7 2RD, UK
2. Systems Biology Laboratory, School of Mathematics and Statistics, and Department of Biomedical Engineering, University of Melbourne, Parkville, Victoria 3010, Australia
3. ARC Centre of Excellence in Convergent Bio-Nano Science and Technology, Melbourne School of Engineering, University of Melbourne, Parkville, Victoria 3010, Australia
4. School of Mathematical Sciences, Queensland University of Technology, Brisbane, Queensland 4001, Australia