1. Keck Graduate Institute, Claremont, California and Control and Dynamical Systems, California Institute of Technology, California
2. Control and Dynamical Systems, California Institute of Technology, California
3. Keck Graduate Institute, Claremont, California
4. Control and Dynamical Systems, California Institute of Technology, California and Institute of Systems Biology, Seattle, Washington
5. ERATO Kitano Symbiotic Systems Project, Jingumae Shibuya-ku, Tokyo, Japan