International Journal of Parallel, Emergent and Distributed Systems Vol. 25, No. 3, June 2010, 223–235 A statistical construction of power-law networks Shilpa Ghadgea*, Timothy Killingbackb1, Bala Sundaramc2 and Duc A. Trana3 a Department of Computer Science, University of Massachussetts, Boston, MA 02125, USA; Department of Mathematics, University of Massachussetts, Boston, MA 02125, USA; cDepartment of Physics, University of Massachussetts, Boston, MA 02125, USA b Downloaded By: [Tran, Duc] At: 20:36 21 April 2010 (Received 6 July 2009; final version received 15 October 2009) We propose a new mechanism for generating networks with a wide variety of degree distributions. The idea is a modification of the well-studied preferential attachment scheme in which the degree of each node is used to determine its evolving connectivity. Modifications to this base protocol to include features other than connectivity have been considered in building the network. However, some of the existing models are merely formulaic and do not offer an explanation that can be interpreted naturally or intuitively, while the others require certain information that is not available in many real-world circumstances. We propose instead a protocol based only on a single statistical feature which results from the reasonable assumption that the effect of various attributes, which determine the ability of each node to attract other nodes, is multiplicative. This composite attribute or fitness is lognormally distributed and is used in forming the complex network. We show that, by varying the parameters of the lognormal distribution, we can recover both exponential and power-law degree distributions. The exponents for the power-law case are in the correct range seen in real-world networks. Further, as power-law networks with exponents in the same range are a crucial ingredient of efficient search algorithms in P2P networks, we believe our network construct may serve as a basis for new protocols that will enable P2P networks to efficiently establish a topology conducive to optimised search procedures. Keywords: power-law networks; growing random networks; lognormal distribution; peer-to-peer networks 1. Introduction In the last decade, there has been much interest in studying complex real-world networks and attempting to find theoretical models that elucidate their structure. A recent surge in activity has often been seen as having started with Watts and Strogatz’s paper on ‘small-world networks’ [33]. More recently, the major focus of research has moved from small-world networks to ‘scale-free’ networks, which are characterised by having power-law degree distributions [5]. Empirical studies have shown that in many large networks, including the World Wide Web [2], the Internet [12], metabolic networks [14], protein networks [13], co-authorship networks [22] and sexual contact networks [19], the degree distribution exhibits a power-law tail: that is, if p(k) is the fraction of nodes in the network having degree k (i.e. having k connections to other nodes) then (for suitably large k) pðkÞ ¼ ck 2l ; *Corresponding author. Email: [email protected] ISSN 1744-5760 print/ISSN 1744-5779 online q 2010 Taylor & Francis DOI: 10.1080/17445760903429963 http://www.informaworld.com ð1Þ 224 S. Ghadge et al. where c ¼ ðl 2 1Þm l21 is a normalisation factor and m is the minimal degree in the network. One of the earliest theoretical models of a complex network, that of a random graph, was proposed and studied in detail by Erdós and Rényi [9 – 11] in a famous series of papers in the 1950s and 1960s. The Erdós –Rényi random graph model consists of n nodes (or vertices) joined by links (or edges), where each possible edge between two vertices is present independently with probability p and absent with probability 12 p. The degree distribution of the Erdós –Rényi random graph model is easy to determine. The probability p(k) that a vertex in a random graph has exactly degree k is given by the binomial distribution Downloaded By: [Tran, Duc] At: 20:36 21 April 2010 pðkÞ ¼ n21 k ! p k ð1 2 pÞn2k21 : ð2Þ In the limit when n q kz, where z ¼ ðn 2 1Þp is the mean degree, the degree distribution becomes the Poisson distribution pðkÞ ¼ z k e2z : k! ð3Þ The Poisson distribution is strongly peaked about the mean z, and has a tail that decays very rapidly as 1/k!. The rapid decay of the tail of the degree distribution for the Erdós –Rényi random graph is completely different from the heavy-tailed power-law nature of the tail of the degree distribution that is observed in many real-world complex networks. Consequently, random graphs of the Erdós – Rényi type provide poor theoretical models for most real complex networks. The near ubiquity of heavy-tailed degree distributions (such as the power law (1)) for real-world complex networks, together with the inadequacy of the Erdós –Rényi random graph as a theoretical model for such networks, brings into sharp relief the fundamental problem of obtaining a satisfactory theoretical explanation for how heavy-tailed degree distribution can naturally arise in complex networks. The dominant concept that is traditionally believed to underlie the emergence of heavy-tailed degree distribution in complex networks is the mechanism of preferential attachment proposed by Barabási and Albert [5]. The preferential attachment algorithm is as follows: starting from a small number (n0) of nodes (which could, for example, be chosen to form a random graph), at every time step we add a new node with m # n0 edges linking the new node to the m nodes already present in the network. The probability Pi that the new node will connect to node i is taken to be proportional to the degree ki of that node, thus ki Pi ¼ P ; j kj ð4Þ (The sum in this equation is over the existing nodes of the network at the current state.) This algorithm leads to a growing random network which simulations and analytic arguments show has a power-law degree distribution with l ¼ 3. The exponent of the power law is independent of m, which only changes the mean degree of the network. An illustration of the differences in both construction and outcomes of random and scale-free networks is shown in Figure 1. Downloaded By: [Tran, Duc] At: 20:36 21 April 2010 International Journal of Parallel, Emergent and Distributed Systems 225 Figure 1. Construction of random and scale-free networks: (a) Erdós – Rényi random graph (left) with network size N ¼ 10 and linking probability p ¼ 0:2 and the scale-free construction (right); (b) degree distributions for ER networks (left) and scale-free networks (right); (c) the appearance of a random network is rather homogeneous (left), i.e. most nodes have approximately the same number of links. In scale-free networks (right), a few nodes have a large number of links while the majority are sparsely connected (one or two links). Both the networks shown contain the same number of nodes and links. The figure is taken from ‘The physics of the web’ by Barabási [4]. Despite the elegance and simplicity of the preferential attachment process, it has clear deficiencies as a general explanation for the heavy-tailed nature of the degree distribution of many complex networks. The most basic deficiency of preferential attachment as a mechanism of general importance in real-world networks is that it requires a node that is joining the network to have access to information about the degrees of all the existing nodes. In most real-world situations, such information is simply not available, and even in those circumstances in which it is available, it is often quite implausible that new nodes use this information when making connections. A brief consideration of one real-world network serves to make the point. The sexual contact network studied in [19] is known to have a power-law degree distribution. The explanation for this phenomenon according to the preferential attachment hypothesis is that a new individual will preferentially seek to have sexual contact with those individuals who already have a large number of sexual contacts. However, the information about how many sexual contacts individuals have is typically not publicly available and cannot be used by any preferential attachment scheme, 226 S. Ghadge et al. Downloaded By: [Tran, Duc] At: 20:36 21 April 2010 and even if this information were somehow available, the preferential attachment hypothesis seems to be a bizarre explanation for human sexual behaviour. Similar objections to the preferential attachment hypothesis are apparent when one considers other complex networks, such as the WWW, or metabolic or protein networks. 2. Lognormal fitness attachment protocol We propose a new explanation for the heavy-tailed nature of the degree distribution of many complex networks that does not require any knowledge of the degrees of existing nodes and is essentially statistical in nature. To motivate the definition of our procedure, we observe that in most real-world networks the nodes will have an attribute or an associated quantity that represents, in some way, the likelihood that other nodes in the network will connect to them. For example, in a citation network (see, e.g. [22]), the different nodes (i.e. papers) will have different propensities to attract links (i.e. citations). The various factors that contribute to the likelihood of a paper being cited could include the prominence of the author(s), the importance of the journal in which it is published, the apparent scientific merit of the work, the timeliness of the ideas contained in the paper, etc. Moreover, it is plausible that the overall quantity that determines the propensity of a paper to be cited depends essentially multiplicatively on such various factors. The multiplicative nature is likely in this case since if one or two of the factors happen to be very small, then the overall likelihood of a paper being cited is often also small, even when other factors are not small. The case of Mendel’s work on genetics constitutes an exemplar of this – an unknown author and an obscure journal were enough to bury a fundamentally important scientific paper. Motivated by this and the other examples, we consider it reasonable that in many complex networks each node will have associated to it a quantity, which represents the property of the node to attract links, and this quantity will be formed multiplicatively from a number of factors. That is, to any node i in the network there is associated a non-negative real number Fi, which is called the fitness of node i, and which is of the form Fi ¼ L Y fl ; l¼1 ð5Þ where each fl is non-negative and real. Assuming that the number of factors, L, is reasonably large and that they are statistically independent, then the fitness Fi will be lognormally distributed, irrespective of the manner in which the individual factors fl are distributed. We recall that a random variable X has a lognormal distribution if the random variable Y ¼ ln X has a normal distribution. To be specific, from Equation (5), we have ln Fi ¼ L X l¼1 ln fl : ð6Þ The central limit theorem implies that, essentially irrespectively of how the factors fl are distributed, the sum will converge to a normal distribution. Thus, ln Fi will be normally distributed and Fi is therefore lognormally distributed. For a general discussion of multiplicative randomness and the lognormal distribution in many areas of science see [20]. International Journal of Parallel, Emergent and Distributed Systems 227 The density function of the normal distribution is 2 1 2 f ðyÞ ¼ pffiffiffiffiffiffi e2ðy2mÞ =2s ; 2ps ð7Þ where m is the mean and s is the standard derivation (i.e. s 2 is the variance). The range of the normal distribution is y [ ð21; 1Þ. It follows from the logarithmic relation Y ¼ ln X that the density function of the lognormal distribution is given by Downloaded By: [Tran, Duc] At: 20:36 21 April 2010 2 1 2 f ðxÞ ¼ pffiffiffiffiffiffi e2ðln x2mÞ =2s : 2p sx ð8Þ It is conventional to say that the lognormal distribution has parameters m and s when the associated normal distribution has mean m and standard deviation s. The range of the lognormal distribution is x [ ð0; 1Þ. The lognormal distribution is skewed with mean 2 2 2 eðmþs Þ=2 and variance ðes 2 1Þe2mþs . Without loss of generality, we assume m ¼ 0; hence, the fitness distribution is characterised by only a single parameter s. This 2 2 2 lognormal distribution has mean es =2 and variance ðes 2 1Þes . We now propose our protocol to construct a complex network, which we shall refer to as Lognormal Fitness Attachment. The parameters for the protocol are . . . . s: parameter for the lognormal distribution used to generate the fitness n0: a small number of nodes to start growing the network with m # n0 : the number of nodes a node connects to when it first joins the network n: the number of nodes in the final network The protocol then works as follows: . Initially, we assume that the network is a graph with n0 nodes. Each of these initial nodes has a fitness generated according to the lognormal distribution with parameter s. . At every time-step we add a new node to the network. This new node has its associated lognormally distributed random fitness and m edges are added to link the new node to m distinct nodes already present in the network. Suppose that the network currently consists of n0 nodes {1; 2; . . . ; n0 } (n0 , n). The m nodes for the new node to connect to are selected such that a node i is selected with a probability Pi proportional to the fitness Fi of that node, thus Fi Pi ¼ Pn0 j¼1 Fj : ð9Þ . The protocol stops when the number of nodes in the network reaches n. The network in its initial state with n0 nodes can be a complete graph, a tree or just a set of isolated nodes. In general, the initial network can be any graph of n0 nodes. Constructed by the above protocol, a network of n nodes has mðn 2 n0 Þ þ e0 links, where e0 is the number of links in the initial network. Thus, the parameter m can be used to obtain any desirable average degree for the network. We note that the proposed network construction scheme does not make any use of information about the degrees of the different nodes. We also note that the only assumption we make about the fitness values is that they are lognormally distributed. In the next section, we show that by varying only parameter s, the lognormal fitness attachment model not only results naturally in networks with power-law 228 S. Ghadge et al. degree distributions with exponent l in the range between 2 and 3, which are seen in many real-world networks [4], but also in exponential degree distributions, which are also commonly observed. Simulation results In our construction protocol, the fitness Fi associated with each node i in the network is chosen randomly from a lognormal distribution with parameters m ¼ 0 and s. The parameter s is the most important parameter, which changes the skewness of the distribution. In order to unambiguously correlate the fitness distribution with properties of the resulting network, in our evaluation, we have kept all parameters fixed, except s. In each case shown, the network is built from a small initial template of node size n0 ¼ 3, each with two edges. Each new node comes with two edges, which means m ¼ 2. Though we have considered networks of various sizes N, the results shown correspond to N ¼ 200; 000. Varying the only remaining parameter s results in a wide range of network degree distribution properties. Figure 2 demonstrates the fact that our statistical protocol recovers all recognised network configurations. Three representative values of s and, in each case, the original fitness distribution and the resulting network degree distribution are shown. In Figure 2(a),(b), we see the case of small s (s ¼ 0:1). The fitness distribution makes clear the feature that, in this case, the variability in fitness is restricted. This closely (b) 105 (a) (c) 4 4 10 2 103 2 10 1 0.5 1 1.5 2 0 5 Fitness 10 15 20 (d) 105 (e) 106 4 104 10 PDF 103 102 100 Connectivity 5 102 15 (f) 5 2 10 10–2 10–8 10 Fitness 100 101 101 0 Connectivity log(Count) 0 0.4 0.2 101 0 0.8 0.6 PDF Count PDF 3 Count Downloaded By: [Tran, Duc] At: 20:36 21 April 2010 3. 4 3 2 1 0 10–6 10–4 Fitness 10–2 100 5 10 15 20 Connectivity Figure 2. Changing degree distributions with varying parameter s for networks with N ¼ 200; 000 nodes. In each case the side-by-side panels show the fitness distribution and the corresponding degree distribution which results: (a) lognormally distributed fitness for m ¼ 0 and s ¼ 0:1; (b) resulting degree distribution corresponding to (a). Note log-linear scale that indicates exponential fall-off. This case would correspond to a random graph; (c) an increasingly skewed distribution with m ¼ 0 and s ¼ 1:5 and (d) corresponding degree distribution plotted on a log– log scale, clearly showing power-law behaviour. The corresponding network would be scale free; (e) extreme skewed distribution for m ¼ 0 and s ¼ 9. Here, the probability of getting a single small value is very high (nearly one), resulting in (f) a distribution where one node completely dominates the network. The fact that the highest degree here is 199, 520 makes clear the common reference to as a ‘winnertake-all’ network. Downloaded By: [Tran, Duc] At: 20:36 21 April 2010 International Journal of Parallel, Emergent and Distributed Systems 229 resembles a growing random network construction, an expectation borne out by the resulting degree distribution which exhibits clear exponential behaviour. On making s larger, the fitness distribution allows for a wider range of values which dramatically changes the degree distribution of the resulting network. Here, we have a power-law network, which for s ¼ 1:5 exhibits an exponent around 3, which is the same as that obtained from the Barabási construction. On increasing s to a more extreme value, say 9, we see that most nodes will have small fitness values while very few will get values from the tail. This results in a distribution where a single node dominates the network in terms of connectivity. In the case shown, 199, 520 (out of a possible 199, 999) connections are made to a single node. The next most connected node has a mere 149 connections. This, monopolistic, winner-takes-all outcome has also been noted in some contexts [4]. These results clearly indicate that our protocol recovers the spectrum of networks reported in the literature. Figures 3(a),(b) and 4 show the networks that result as s are increased from small to large values. In Figure 3(a), a small value of s leads to a network similar to that obtained when the attachment probability is kept approximately constant. We note that the network shown is akin to that displayed by neural networks of Escherichia coli bacteria and the electric grid of Southern California [3]. Figure 3(b) shows the other end of the spectrum of behaviour where for large s, a few nodes dominate the attachment in the network. Though this is not as clear as the case shown in Figure 2(f), it nevertheless illustrates the winner-take-all behaviour indicated earlier. Intermediate values of s lead to networks like those shown in Figure 4, where clustering is seen on multiple scales; a characteristic of power-law behaviour. The transition between the regimes of exponential and power-law degree distributions is not discontinuous. This is seen from Figure 5, where the degree distribution is plotted on a log-linear scale for a range of s values. A seamless transition from random to scale-free network behaviour, which coincides with the degree distribution changing from exponential to power law, is seen with changing s. Further, the power-law exponent can also be controlled by further changing s. This is seen from Figure 6 where, over the range s ¼ 1:5 – 3:5, the power-law exponent varies from approximately the Barabási value of 3 to 2. Therefore, the scheme we propose has the added advantage of allowing a measure of tunability in the degree distribution of the Figure 3. Resulting network for (a) s ¼ 0:01 which reflects the homogeneity associated with random networks, (b) s ¼ 9 which represents the opposite extreme case of large s, which shows a clear domination of a few sites that have high degree. Downloaded By: [Tran, Duc] At: 20:36 21 April 2010 230 S. Ghadge et al. Figure 4. For intermediate values of s, the networks display clumping on multiple sites, a signature of power-law behaviour in the degree distribution. The networks shown exhibit power-law degree distributions with different exponents. The respective s values are (a) 1.5, (b) 1.6, (c) 3 and (d) 4. network. As discussed in the following section, this could prove useful for applications in the context of peer-to-peer networks. 4. Related work and application to P2P networks The preferential attachment mechanism by Barabási and Albert results in a power-law degree distribution with l ¼ 3. This mechanism represents a small subset of scale-free networks in the real world. A different generative model for scale-free networks is the copy model studied by Kumar et al. [18], in which the new node chooses an existing node at random and copies a fraction of the links of the existing node. This model is similar to the notation of ‘triadic closure’, also a key issue in sociology: links are much more likely to form between two people when they have a friend in common [16]. The copy model assumes that the new node knows whom the chosen existing node is connected to. This assumption is reasonable for web graphs for which the model is originally proposed. However, the assumption is not always reasonable in other circumstances, as is clear from the case of sexual contact networks discussed in Section 1. In order to produce a wide range of power-law exponents, the generative models in [6,7,32] also suggest the idea of associating each node with an intrinsic fitness, like our International Journal of Parallel, Emergent and Distributed Systems σ = 0.1 σ = 0.2 σ = 0.6 σ=1 σ = 1.5 105 Count 231 104 103 4 6 8 Connectivity 10 12 Figure 5. The seamless evolution from exponential to power-law degree behaviour is seen with increasing s. The fact that the graph is plotted on a log-linear scale makes this transition transparent. The curves have been shifted vertically for clarity. proposed model. The common approach in these efforts is that given any distribution from which fitness is chosen, the probability to connect a pair of nodes is a function of their corresponding fitnesses, which can be formulated based on the fitness distribution to ensure the scale-freeness of the network. In spite of their mathematical beauty, these models are based on sophisticated formulas which are difficult to interpret naturally or intuitively. Our model is much simpler as we explicitly propose that (1) fitness is lognormally distributed and (2) the linking function is based on pure preferential Barabasi σ = 1.5 σ=2 σ = 2.5 σ=3 σ = 3.5 105 104 Count Downloaded By: [Tran, Duc] At: 20:36 21 April 2010 2 103 102 101 100 10 20 30 40 50 Connectivity Figure 6. Changing power law with increasing s. These log– log distributions clearly show a changing power-law exponent with a value around 3 for s ¼ 1:5 and one closer to 2 for s ¼ 3:5. The degree distribution of the Barabási construction, which leads to an exponent of 3, is also shown as a basis for comparison. Downloaded By: [Tran, Duc] At: 20:36 21 April 2010 232 S. Ghadge et al. attachment (attractiveness to new connections is proportional to fitness). Both of these hypotheses are reasonable and natural. There have been a large body of work on methods aimed to construct a network that satisfies some given criteria other than a power-law degree distribution. Noticeably, as the small-world phenomenon [33] is observed in many real-world networks and is a property that makes search in networks more efficient, a number of methods have been proposed to generate networks that have this property. Starting from an initial (static) network, a popular approach to make it a small-world network is to follow a rewiring process in which random long-range links are added to connect a node to a random far-flung node [8,15]. Compared to this line of work, our work has a different purpose as it is aimed to generate power-law networks, not small-world networks. Our proposed model could be useful to design efficient P2P search networks. A P2P network consists of a large number of nodes (i.e. computers) that operate in a decentralised fashion to enable resource-sharing services or to accomplish global tasks for a community of users. P2P networks are categorised into two main classes: structured or unstructured. In a structured P2P network, the nodes are connected to each other according to a predefined overlay structure which needs to be maintained over time. Examples of such a structure are the well-known Distributed Hash Tables CAN [24], Chord [31] and Tapestry [34]. On the contrary, an unstructured P2P network is formed such that links between nodes are created arbitrarily. Although structured P2P networks enable efficient search, unstructured P2P networks have their own advantages. In the latter networks, since there requires no structure to dictate how nodes are connected, the cost of structure maintenance is avoided. In addition to being much easier to construct and manage and sometimes considered more robust to highly dynamic environments, unstructured networks allow the data and queries to be described in any rich form, unlike structured P2P networks which usually require some certain structure-dependent format for the data and queries. Most existing P2P networks are unstructured [30], including popular file-sharing networks such as Gnutella [17], Limewire [26] and Morpheus (Homepage, http://www.morpheus.com/ index.html), and many P2P streaming networks such as the highly popular PPLive (http:// www.pplive.com/). Despite the popularity of unstructured P2P networks, a major challenge is the development of systematic protocols for determining topological characteristic of P2P networks. The importance of this problem comes from the fact that efficient search algorithms for a P2P system depend on the network having a power-law structure with exponent between 2 and 3. For a P2P network of size N with such a power-law topology, the percolation search algorithm of [29] is capable of finding any content in the network with probability one in time ðO log NÞ. Although it is known from empirical studies [25,27] that existing P2P networks have approximate power-law degree distributions, this structure appears to have arisen in an ad hoc fashion and, thus, it is important to have client-based protocols that are guaranteed to produce global P2P networks with a predictable power-law topology. One such protocol has been proposed in [28]. We believe that our construction of power-law networks with tunable exponents in the range between 2 and 3 provides an alternative basis for a new client-based protocol that guarantees the emergence of a global topology for P2P networks that is suitable for implementing efficient search algorithms, such as that of [29]. The client-level protocol that emerges from our construction of power-law network is straightforward in principle. Each node in a P2P network has a locally generated random variable, the node’s fitness, which is drawn from a lognormal distribution, with a globally specified value s. New nodes entering the network then connect to existing nodes using International Journal of Parallel, Emergent and Distributed Systems 233 Table 1. Mean search times for random walk search on three networks of N ¼ 10,000 nodes generated using lognormal fitness attachment, with s ¼ 2,3,4, and the corresponding search times on three reference random power-law networks with the same number of nodes and degree sequences constructed using the configuration model [23]. s Lognormal Random 2 3 4 17,445 18,476 18,696 20,393 19,408 21,668 Downloaded By: [Tran, Duc] At: 20:36 21 April 2010 Note: In all cases, the mean search times were calculated using 100,000 randomly selected start –finish pairs. The results support the conjecture that lognormal fitness attachment generates a network with a topology more amenable to search than a random power-law network with the same degree distribution. the lognormal fitness attachment protocol described earlier. As shown, this protocol will automatically result in a P2P network with the global topology of a power-law network and with exponent in the range between 2 and 3. As such, this P2P network will therefore be tailored for the percolation search algorithm [29]. In addition to constructing power-law networks with an exponent in the range suitable for efficient search algorithms, we conjecture that the lognormal fitness attachment protocol naturally constructs a power-law network with a global topology that allows more efficient search than a random power-law network with the same degree distribution. This conjecture is supported by the result of random walk search [1] on networks generated using our protocol and on random power-law networks with the same degree sequence. Table 1 shows the results for the mean search time for random walk searches on three networks of N ¼ 10; 000 nodes constructed using the lognormal fitness attachment protocol and for three reference networks with identical nodes and degree sequences which were constructed using the configuration method [23]. We note that in all cases the random walk search is more efficient on the networks generated by our protocol than on random networks with the same degree sequence. Testing the efficiency of the percolation search algorithm [29] on networks constructed using our protocol is an interesting question currently under consideration. Our work is somewhat related to the work of Schmid and Wattenhofer in [30] and others alike (e.g. [21]), which also provides a P2P design for efficient search in unstructured networks. The fundamental difference, however, is that while their method applies a rewiring algorithm on top of an existing network (by adding new links between nodes to improve search), we have proposed a generative model to form power-law P2P networks with intrinsic properties that are conducive to efficient search, without requiring any rewiring. To our knowledge, this feature of the proposed method is unique. 5. Conclusion We have suggested a simple statistical method for generating networks with a wide range of degree distributions. A single statistical parameter governs the final outcome which can range from exponential to power law to a monopolistic (winner-takes-all) network. Further, the method does not utilise any information on the connectivity of the existing network structure as the network is built. This protocol naturally constructs power-law networks which are well suited for efficient search. The protocol may also perhaps be useful in changing the characters of an already existing network. This and related issues are currently under consideration. 234 S. Ghadge et al. Acknowledgement This work was supported in part by the National Science Foundation under award number CNS-0753066.Any opinions, findings and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect those of the National Science Foundation. Notes 1. 2. 3. 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