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  _  _     ______    _____      ___     __   __  
 | \| ||  /_   _//  / ____||   / _ \\   \ \\/ // 
 |  ' ||   -| ||-  / //---`'  | / \ ||   \   //  
 | .  ||   _| ||_  \ \\___    | \_/ ||   / . \\  
 |_|\_||  /_____//  \_____||   \___//   /_//\_\\ 
 `-` -`   `-----`    `----`    `---`    `-`  --`

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Text this: ART-C: A neural architecture for self-organization under constraints