1. Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, People’s Republic of China
2. Center for Polymer Studies, Department of Physics, Boston University, Boston, MA 02115, USA
3. Department of Zoology, University of Oxford, Oxford OX1 3PS, UK
4. Chair of Systems Design, ETH Zürich, Weinbergstrasse 56/58, Zürich 8092, Switzerland