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Simplify CI and bump version requirements (#3687)
Description of changes: - reduce number of CI images for CUDA jobs (partial fix for #3611) - test CUDA 9.1 and 10.1 using compatible compilers without patches (fixes #3654) - drop support for Ubuntu 16.04 - bump minimal Boost version to 1.65 (partial fix for #3093) - bump Python packages to the versions available in Ubuntu 18.04 (partial fix for #3421) - add missing lxml package (fixes #3686) - fix issues in docs revealed by the new Doxygen and Sphinx versions
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