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Enh: Add support for structure, structures, object, objects (#24)

* ENH: Add support for structure arrays

* ENH: Adding read support for 'structures', 'object', and 'objects'

* DOC: Fix update_header doc

* BUG: Store lists or arrays of strings as cell records

* TST: Fix testing of nested composite structures.

* ENH: Implement enforcement of valid matlab field names in structure keys

* BUG: Use string-array check that works on python 2.7 and 3.

* TST: Expand tests for valid labels

189 of 200 branches covered (94.5%)

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511 of 520 relevant lines covered (98.27%)

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