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The first named author gratefully acknowledges support by the Alexander-von-Humboldt-Stiftung
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Collins, D.J., Huebschmann, J. Spherical diagrams and identities among relations. Math. Ann. 261, 155–183 (1982). https://doi.org/10.1007/BF01456216
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DOI: https://doi.org/10.1007/BF01456216