A physical neural network is a type of artificial neural network in which an electrically adjustable material is used to emulate the function of a neural synapse or a higher-order (dendritic) neuron model. "Physical" neural network is used to emphasize the reliance on physical hardware used to emulate neurons as opposed to software-based approaches. More generally the term is applicable to other artificial neural networks in which a memristor or other electrically adjustable resistance material is used to emulate a neural synapse. == Types of physical neural networks == === ADALINE === In the 1960s Bernard Widrow and Ted Hoff developed ADALINE (Adaptive Linear Neuron) which used electrochemical cells called memistors (memory resistors) to emulate synapses of an artificial neuron. The memistors were implemented as 3-terminal devices operating based on the reversible electroplating of copper such that the resistance between two of the terminals is controlled by the integral of the current applied via the third terminal. The ADALINE circuitry was briefly commercialized by the Memistor Corporation in the 1960s enabling some applications in pattern recognition. However, since the memistors were not fabricated using integrated circuit fabrication techniques the technology was not scalable and was eventually abandoned as solid-state electronics became mature. === Analog VLSI === In 1989 Carver Mead published his book Analog VLSI and Neural Systems, which spun off perhaps the most common variant of analog neural networks. The physical realization is implemented in analog VLSI. This is often implemented as field effect transistors in low inversion. Such devices can be modelled as translinear circuits. This is a technique described by Barrie Gilbert in several papers around mid 1970th, and in particular his Translinear Circuits from 1981. With this method circuits can be analyzed as a set of well-defined functions in steady-state, and such circuits assembled into complex networks. === Physical Neural Network === Alex Nugent describes a physical neural network as one or more nonlinear neuron-like nodes used to sum signals and nanoconnections formed from nanoparticles, nanowires, or nanotubes which determine the signal strength input to the nodes. Alignment or self-assembly of the nanoconnections is determined by the history of the applied electric field performing a function analogous to neural synapses. Numerous applications for such physical neural networks are possible. For example, a temporal summation device can be composed of one or more nanoconnections having an input and an output thereof, wherein an input signal provided to the input causes one or more of the nanoconnection to experience an increase in connection strength thereof over time. Another example of a physical neural network is taught by U.S. Patent No. 7,039,619 entitled "Utilized nanotechnology apparatus using a neural network, a solution and a connection gap," which issued to Alex Nugent by the U.S. Patent & Trademark Office on May 2, 2006. A further application of physical neural network is shown in U.S. Patent No. 7,412,428 entitled "Application of hebbian and anti-hebbian learning to nanotechnology-based physical neural networks," which issued on August 12, 2008. Nugent and Molter have shown that universal computing and general-purpose machine learning are possible from operations available through simple memristive circuits operating the AHaH plasticity rule. More recently, it has been argued that also complex networks of purely memristive circuits can serve as neural networks. === Phase change neural network === In 2002, Stanford Ovshinsky described an analog neural computing medium in which phase-change material has the ability to cumulatively respond to multiple input signals. An electrical alteration of the resistance of the phase change material is used to control the weighting of the input signals. === Memristive neural network === Greg Snider of HP Labs describes a system of cortical computing with memristive nanodevices. The memristors (memory resistors) are implemented by thin film materials in which the resistance is electrically tuned via the transport of ions or oxygen vacancies within the film. DARPA's SyNAPSE project has funded IBM Research and HP Labs, in collaboration with the Boston University Department of Cognitive and Neural Systems (CNS), to develop neuromorphic architectures which may be based on memristive systems. === Protonic artificial synapses === In 2022, researchers reported the development of nanoscale brain-inspired artificial synapses, using the ion proton (H+), for 'analog deep learning'.
Socially assistive robot
A socially assistive robot (SAR) aids users through social engagement and support rather than through physical tasks and interactions. == Background == The field of socially assistive robotics emerged in the early 2000s, following the emergence of the field of social robots. In contrast to social robots, SARs aid users with specific goals related to behavior change rather than serving as purely social entities. The term "Socially assistive robot" was initially defined by Maja Matarić and David Feil-Seifer in 2005. Since its inception, the field has gained substantial recognition, featuring numerous research projects, a wealth of global research publications, startup companies, and a growing array of products on the consumer market. The COVID-19 pandemic has underscored the immense potential of socially assistive robots, particularly in addressing the needs of large user populations, including children engaged in remote learning, elderly individuals grappling with loneliness, and those affected by social isolation and its associated negative consequences. == Characteristics of interaction == SARs rely on artificial intelligence (AI) to generate real-time, responsive, natural, and meaningful robot behaviors during interactions with humans. The robots employ various forms of communication, such as facial expressions, gestures, body movements, and speech. In contrast to robots intended for physical tasks, SARs are designed to support and motivate users to perform their own tasks. The tasks a user engages in can be physical (e.g., rehabilitation exercises for post-stroke users), cognitive (e.g., dementia screening for elderly users), or social (e.g., turn-taking for users with autism spectrum disorders). This complex interaction involves detecting and interpreting the user's movement, behavior, intent, goals, speech, and preferences. Machine learning and robot learning techniques are frequently employed to enhance the robot's understanding of the user, predict user preferences, and provide effective assistance. The effectiveness of socially assistive robots is assessed based on objective measurements of user performance and improvement resulting from the robot’s assistance and support. Unlike other branches of robotics, where effectiveness depends on the robot's physical task completion, SAR measures the success of the robot based on the user's progress and achievements. This evaluation is carried out using quantitative objective metrics, such as time spent on tasks, accuracy, retention, and verbalization, as well as quantitative subjective metrics, such as user survey tools. SAR is based on the large body of evidence showing that users tend to respond more positively to interactions with physical robots compared to interactions with screens. Interaction with physical robots also encourages users to learn and retain more information than screen-based interactions. This fundamental insight underlines why physical robots in SAR applications are more effective, as opposed to interactions solely involving screens, tablets, or computers. == Uses and applications == SARs have been developed and validated in a wide array of applications, including healthcare, elder care, education, and training. For example, SARs have been developed to support children on the autism spectrum in acquiring and practicing social and cognitive skills, to motivate and coach stroke patients throughout their rehabilitation exercises, monitoring individuals health (ex. fall detection), and to encourage elderly users to be more physically and socially active. There is a concern that technophobia and lack of trust in robots will pose a barrier to the effectiveness of SARs in older adults.
Danqi Chen
Danqi Chen (Chinese: 陈丹琦; pinyin: Chén Dānqí, IPA: [ʈ͡ʂʰə̌n tan t͡ɕʰǐ]; born in Changsha, China) is a Chinese computer scientist and assistant professor at Princeton University specializing in the AI field of natural language processing (NLP). In 2019, she joined the Princeton NLP group, alongside Sanjeev Arora, Christiane Fellbaum, and Karthik Narasimhan. She was previously a visiting scientist at Facebook AI Research (FAIR). She earned her Ph.D. at Stanford University and her BS from Tsinghua University. Chen is the author of Neural Reading Comprehension and Beyond, a dissertation on using artificial intelligence to access knowledge in ordinary and structured documents. She is the author or co-author of a number of journal articles, including Reading Wikipedia to Answer Open-Domain Questions. Google's SyntaxNet is based on algorithms developed by Danqi Chen and Christopher Manning at Stanford. Her primary research interests are in text understanding and knowledge representation and reasoning. She won a gold medal at the 2008 International Informatics Olympiad. She is known among friends as CDQ. A well known algorithm in competitive programming, CDQ Divide and Conquer, is named after this acronym. She is married to Huacheng Yu, an assistant professor in theoretical computer science at Princeton University.
Timnit Gebru
Timnit W. Gebru (Amharic and Tigrinya: ትምኒት ገብሩ; 1982/1983) is an Eritrean Ethiopian-born computer scientist who works in the fields of artificial intelligence (AI), algorithmic bias and data mining. She is a co-founder of Black in AI, an advocacy group that has pushed for more Black roles in AI development and research. She is the founder of the Distributed Artificial Intelligence Research Institute (DAIR). In December 2020, public controversy erupted over the circumstances surrounding Gebru's departure from Google, where she was technical co-lead of the Ethical Artificial Intelligence Team. Gebru had coauthored a paper on the risks of large language models (LLMs) acting as stochastic parrots, and submitted it for publication. According to Jeff Dean, head of Google AI, the paper was submitted without waiting for Google's internal review, which then asserted that it ignored too much relevant research. Google management requested that Gebru either withdraw the paper or remove the names of all the authors employed by Google. Gebru requested the identity and feedback of every reviewer, and stated that if Google refused, she would talk to her manager about "a last date". Google terminated her employment immediately, stating that they were accepting her resignation. Gebru maintained that she had not formally offered to resign, and only threatened to. Gebru has been widely recognized for her expertise in the ethics of artificial intelligence. She was named one of the World's 50 Greatest Leaders by Fortune and one of Nature's ten people who shaped science in 2021, and in 2022, one of Time's most influential people. == Early life and education == Gebru was raised in Addis Ababa, Ethiopia. Her father, an electrical engineer with a Doctor of Philosophy (PhD), died when she was five years old, and she was raised by her mother, an economist. Both her parents are from Eritrea. When Gebru was 15, during the Eritrean–Ethiopian War, she fled Ethiopia after some of her family were deported to Eritrea and compelled to fight in the war. She was initially denied a U.S. visa and briefly lived in Ireland, but she eventually received political asylum in the U.S., an experience she said was "miserable". Gebru settled in Somerville, Massachusetts to attend high school, where she says she immediately started to experience racial discrimination, with some teachers refusing to allow her to take certain Advanced Placement courses, despite being a high-achiever. After she completed high school, an encounter with the police set Gebru on a course toward a focus on ethics in technology. A friend of hers, a Black woman, was assaulted in a bar, and Gebru called the police to report it. She says that instead of filing the assault report, her friend was arrested and remanded to a cell. Gebru called it a pivotal moment and a "blatant example of systemic racism." In 2001, Gebru was accepted at Stanford University. There, she earned her Bachelor of Science and Master of Science degrees in electrical engineering and her PhD in computer vision in 2017. Gebru was advised during her PhD program by Fei-Fei Li. During the 2008 United States presidential election, Gebru canvassed in support of Barack Obama. Gebru presented her doctoral research at the 2017 LDV Capital Vision Summit competition, where computer vision scientists present their work to members of industry and venture capitalists. Gebru won the competition, starting a series of collaborations with other entrepreneurs and investors. Both during her PhD program in 2016 and in 2018, Gebru returned to Ethiopia with Jelani Nelson's programming campaign, AddisCoder. While working on her PhD, Gebru authored a paper that was never published about her concern over the future of AI. She wrote of the dangers of the lack of diversity in the field, centered on her experiences with the police and on a ProPublica investigation into predictive policing, which revealed a projection of human biases in machine learning. In the paper, she scathed the "boy's club culture", reflecting on her experiences at conference gatherings of drunken male attendees sexually harassing her, and criticized the hero worship of the field's celebrities. == Career == === 2004–2013: Software development at Apple === Gebru joined Apple as an intern while at Stanford, working in their hardware division making circuitry for audio components, and was offered a full-time position the following year. Of her work as an audio engineer, her manager told Wired she was "fearless", and well-liked by her colleagues. During her tenure at Apple, Gebru became more interested in building software, namely computer vision that could detect human figures. She went on to develop signal processing algorithms for the first iPad. At the time, she said she did not consider the potential use for surveillance, saying "I just found it technically interesting." Long after leaving the company, during the #AppleToo movement in the summer of 2021, which was led by Apple engineer Cher Scarlett, who consulted with Gebru, Gebru revealed she experienced "so many egregious things" and "always wondered how they manage[d] to get out of the spotlight." She said that accountability at Apple was long overdue, and warned they could not continue to fly under the radar for much longer. Gebru also criticized the way the media covers Apple and other tech giants, saying that the press helps shield such companies from public scrutiny. === 2013–2017: Research at Stanford and Microsoft === In 2013, Gebru joined Fei-Fei Li's lab at Stanford, where she combined deep learning with Google Street View to estimate the demographics of United States neighbourhoods, showing that socioeconomic attributes such as voting patterns, income, race, and education can be inferred from observations of cars. In 2015, Gebru attended the field's top conference, Neural Information Processing Systems (NIPS), in Montreal, Canada. Out of 3,700 attendees, she noted she was one of only a few Black researchers. When she attended again the following year, she kept a tally and noted that there were only five Black men and that she was the only Black woman out of 8,500 delegates. Together with her colleague Rediet Abebe, Gebru founded Black in AI, a community of Black researchers working in artificial intelligence that aims to increase the presence, visibility, and well-being of Black professionals and leaders within the field. In the summer of 2017, Gebru joined Microsoft as a postdoctoral researcher in the Fairness, Accountability, Transparency, and Ethics in AI (FATE) lab. In 2017, Gebru spoke at the Fairness and Transparency conference, where MIT Technology Review interviewed her about biases that exist in AI systems and how adding diversity in AI teams can fix that issue. In her interview with Jackie Snow, Snow asked Gebru, "How does the lack of diversity distort artificial intelligence and specifically computer vision?" and Gebru pointed out that there are biases that exist in the software developers. While at Microsoft, Gebru co-authored a research paper called Gender Shades, which became the namesake of a project of a broader Massachusetts Institute of Technology project led by co-author Joy Buolamwini. The pair investigated facial recognition software, finding that in one particular implementation Black women were 35% less likely to be recognized than White men. === 2018–2020: Artificial intelligence ethics at Google === Gebru joined Google in 2018, where she co-led a team on the ethics of artificial intelligence with Margaret Mitchell. She studied the implications of artificial intelligence, looking to improve the ability of technology to do social good. In 2019, Gebru and other artificial intelligence researchers "signed a letter calling on Amazon to stop selling its facial-recognition technology to law enforcement agencies because it is biased against women and people of color", citing a study that was conducted by MIT researchers showing that Amazon's facial recognition system had more trouble identifying darker-skinned females than any other technology company's facial recognition software. In a New York Times interview, Gebru has further expressed that she believes facial recognition is too dangerous to be used for law enforcement and security purposes at present. === Exit from Google === In 2020 Gebru and five co-authors wrote a paper titled "On the Dangers of Stochastic Parrots: Can Language Models Be Too Big? 🦜". The paper examined risks of very large language models, including their environmental footprint, financial costs, the inscrutability of large models, the potential for LLMs to display prejudice against certain groups, the inability of LLMs to understand the language they process, and the use of LLMs to spread disinformation. In December 2020, her employment with Google ended after Google management asked her to either withdraw the paper before publication, or remove the names of all the Google employees from
Multiple sequence alignment
Multiple sequence alignment (MSA) is the process or the result of sequence alignment of three or more biological sequences, generally protein, DNA, or RNA. These alignments are used to infer evolutionary relationships via phylogenetic analysis and can highlight homologous features between sequences. Alignments highlight mutation events such as point mutations (single amino acid or nucleotide changes), insertion mutations and deletion mutations, and alignments are used to assess sequence conservation and infer the presence and activity of protein domains, tertiary structures, secondary structures, and individual amino acids or nucleotides. Multiple sequence alignments require more sophisticated methodologies than pairwise alignments, as they are more computationally complex. Most multiple sequence alignment programs use heuristic methods rather than global optimization because identifying the optimal alignment between more than a few sequences of moderate length is prohibitively computationally expensive. However, heuristic methods generally cannot guarantee high-quality solutions and have been shown to fail to yield near-optimal solutions on benchmark test cases. == Problem statement == Given m {\displaystyle m} sequences S i {\displaystyle S_{i}} , i = 1 , ⋯ , m {\displaystyle i=1,\cdots ,m} similar to the form below: S := { S 1 = ( S 11 , S 12 , … , S 1 n 1 ) S 2 = ( S 21 , S 22 , ⋯ , S 2 n 2 ) ⋮ S m = ( S m 1 , S m 2 , … , S m n m ) {\displaystyle S:={\begin{cases}S_{1}=(S_{11},S_{12},\ldots ,S_{1n_{1}})\\S_{2}=(S_{21},S_{22},\cdots ,S_{2n_{2}})\\\,\,\,\,\,\,\,\,\,\,\vdots \\S_{m}=(S_{m1},S_{m2},\ldots ,S_{mn_{m}})\end{cases}}} A multiple sequence alignment is taken of this set of sequences S {\displaystyle S} by inserting any amount of gaps needed into each of the S i {\displaystyle S_{i}} sequences of S {\displaystyle S} until the modified sequences, S i ′ {\displaystyle S'_{i}} , all conform to length L ≥ max { n i ∣ i = 1 , … , m } {\displaystyle L\geq \max\{n_{i}\mid i=1,\ldots ,m\}} and no values in the sequences of S {\displaystyle S} of the same column consists of only gaps. The mathematical form of an MSA of the above sequence set is shown below: S ′ := { S 1 ′ = ( S 11 ′ , S 12 ′ , … , S 1 L ′ ) S 2 ′ = ( S 21 ′ , S 22 ′ , … , S 2 L ′ ) ⋮ S m ′ = ( S m 1 ′ , S m 2 ′ , … , S m L ′ ) {\displaystyle S':={\begin{cases}S'_{1}=(S'_{11},S'_{12},\ldots ,S'_{1L})\\S'_{2}=(S'_{21},S'_{22},\ldots ,S'_{2L})\\\,\,\,\,\,\,\,\,\,\,\vdots \\S'_{m}=(S'_{m1},S'_{m2},\ldots ,S'_{mL})\end{cases}}} To return from each particular sequence S i ′ {\displaystyle S'_{i}} to S i {\displaystyle S_{i}} , remove all gaps. == Graphing approach == A general approach when calculating multiple sequence alignments is to use graphs to identify all of the different alignments. When finding alignments via graph, a complete alignment is created in a weighted graph that contains a set of vertices and a set of edges. Each of the graph edges has a weight based on a certain heuristic that helps to score each alignment or subset of the original graph. === Tracing alignments === When determining the best suited alignments for each MSA, a trace is usually generated. A trace is a set of realized, or corresponding and aligned, vertices that has a specific weight based on the edges that are selected between corresponding vertices. When choosing traces for a set of sequences it is necessary to choose a trace with a maximum weight to get the best alignment of the sequences. == Alignment methods == There are various alignment methods used within multiple sequence to maximize scores and correctness of alignments. Each is usually based on a certain heuristic with an insight into the evolutionary process. Most try to replicate evolution to get the most realistic alignment possible to best predict relations between sequences. === Dynamic programming === A direct method for producing an MSA uses the dynamic programming technique to identify the globally optimal alignment solution. For proteins, this method usually involves two sets of parameters: a gap penalty and a substitution matrix assigning scores or probabilities to the alignment of each possible pair of amino acids based on the similarity of the amino acids' chemical properties and the evolutionary probability of the mutation. For nucleotide sequences, a similar gap penalty is used, but a much simpler substitution matrix, wherein only identical matches and mismatches are considered, is typical. The scores in the substitution matrix may be either all positive or a mix of positive and negative in the case of a global alignment, but must be both positive and negative, in the case of a local alignment. For n individual sequences, the naive method requires constructing the n-dimensional equivalent of the matrix formed in standard pairwise sequence alignment. The search space thus increases exponentially with increasing n and is also strongly dependent on sequence length. Expressed with the big O notation commonly used to measure computational complexity, a naïve MSA takes O(LengthNseqs) time to produce. To find the global optimum for n sequences this way has been shown to be an NP-complete problem. In 1989, based on Carrillo-Lipman Algorithm, Altschul introduced a practical method that uses pairwise alignments to constrain the n-dimensional search space. In this approach pairwise dynamic programming alignments are performed on each pair of sequences in the query set, and only the space near the n-dimensional intersection of these alignments is searched for the n-way alignment. The MSA program optimizes the sum of all of the pairs of characters at each position in the alignment (the so-called sum of pair score) and has been implemented in a software program for constructing multiple sequence alignments. In 2019, Hosseininasab and van Hoeve showed that by using decision diagrams, MSA may be modeled in polynomial space complexity. === Progressive alignment construction === The most widely used approach to multiple sequence alignments uses a heuristic search known as progressive technique (also known as the hierarchical or tree method) developed by Da-Fei Feng and Doolittle in 1987. Progressive alignment builds up a final MSA by combining pairwise alignments beginning with the most similar pair and progressing to the most distantly related. All progressive alignment methods require two stages: a first stage in which the relationships between the sequences are represented as a phylogenetic tree, called a guide tree, and a second step in which the MSA is built by adding the sequences sequentially to the growing MSA according to the guide tree. The initial guide tree is determined by an efficient clustering method such as neighbor-joining or unweighted pair group method with arithmetic mean (UPGMA), and may use distances based on the number of identical two-letter sub-sequences (as in FASTA rather than a dynamic programming alignment). Progressive alignments are not guaranteed to be globally optimal. The primary problem is that when errors are made at any stage in growing the MSA, these errors are then propagated through to the final result. Performance is also particularly bad when all of the sequences in the set are rather distantly related. Most modern progressive methods modify their scoring function with a secondary weighting function that assigns scaling factors to individual members of the query set in a nonlinear fashion based on their phylogenetic distance from their nearest neighbors. This corrects for non-random selection of the sequences given to the alignment program. Progressive alignment methods are efficient enough to implement on a large scale for many (100s to 1000s) sequences. A popular progressive alignment method has been the Clustal family. ClustalW is used extensively for phylogenetic tree construction, in spite of the author's explicit warnings that unedited alignments should not be used in such studies and as input for protein structure prediction by homology modeling. European Bioinformatics Institute (EMBL-EBI) announced that CLustalW2 will expire in August 2015. They recommend Clustal Omega which performs based on seeded guide trees and HMM profile-profile techniques for protein alignments. An alternative tool for progressive DNA alignments is multiple alignment using fast Fourier transform (MAFFT). Another common progressive alignment method named T-Coffee is slower than Clustal and its derivatives but generally produces more accurate alignments for distantly related sequence sets. T-Coffee calculates pairwise alignments by combining the direct alignment of the pair with indirect alignments that aligns each sequence of the pair to a third sequence. It uses the output from Clustal as well as another local alignment program LALIGN, which finds multiple regions of local alignment between two sequences. The resulting alignment and phylogenetic tree are used as a guide to produce new and more accurate w
Fragment (computer graphics)
In computer graphics, a fragment is the data necessary to generate a single pixel's worth of a drawing primitive in the frame buffer. These data may include, but are not limited to: raster position depth interpolated attributes (color, texture coordinates, etc.) stencil alpha window ID As a scene is drawn, drawing primitives (the basic elements of graphics output, such as points, lines, circles, text etc.) are rasterized into fragments which are textured and combined with the existing frame buffer. How a fragment is combined with the data already in the frame buffer depends on various settings. In a typical case, a fragment may be discarded if it is further away than the pixel which is already at that location (according to the depth buffer). If it is nearer than the existing pixel, it may replace what is already there, or, if alpha blending is in use, the pixel's color may be replaced with a mixture of the fragment's color and the pixel's existing color, as in the case of drawing a translucent object. In general, a fragment can be thought of as the data needed to shade the pixel, plus the data needed to test whether the fragment survives to become a pixel (depth, alpha, stencil, scissor, window ID, etc.). Shading a fragment is done through a fragment shader (or pixel shaders in Direct3D). In computer graphics, a fragment is not necessarily opaque, and could contain an alpha value specifying its degree of transparency. The alpha is typically normalized to the range of [0, 1], with 0 denotes totally transparent and 1 denotes totally opaque. If the fragment is not totally opaque, then part of its background object could show through, which is known as alpha blending.
Edward Stabler
Edward Stabler is a Professor of Linguistics at the University of California, Los Angeles. His primary areas of research are (1) Natural Language Processing (NLP), (2) Parsing and formal language theory, and (3) Philosophy of Logic and Language. He was a member of the faculty at UCLA from 1984 to 2016. His work involves the production of software for minimalist grammars (MGs) and related systems. == Early life and education == Stabler received his Ph.D. from the Department of Linguistics and Philosophy at MIT in 1981. == Recent publications == Edward Stabler (2011) Computational perspectives on minimalism. Revised version in C. Boeckx, ed, Oxford Handbook of Linguistic Minimalism, pp. 617–642. Edward Stabler (2010) A defense of this perspective against the Evans&Levinson critique appears here, with revised version in Lingua 120(12): 2680-2685. Edward Stabler (2010) After GB. Revised version in J. van Benthem & A. ter Meulen, eds, Handbook of Logic and Language, pp. 395–414. Edward Stabler (2010) Recursion in grammar and performance. Presented at the 2009 UMass recursion conference. Edward Stabler (2009) Computational models of language universals. Revised version appears in M. H. Christiansen, C. Collins, and S. Edelman, eds., Language Universals, Oxford: Oxford University Press, pages 200-223. Edward Stabler (2008) Tupled pregroup grammars. Revised version appears in P. Casadio and J. Lambek, eds., Computational Algebraic Approaches to Natural Language, Milan: Polimetrica, pages 23–52. Edward Stabler (2006) Sidewards without copying. Proceedings of the 11th Conference on Formal Grammar, edited by P. Monachesi, G. Penn, G. Satta, and S. Wintner. Stanford: CSLI Publications, 2006, pages 133-146.