This the second lecture in a series of 12 given by Rob Kirby (Berkeley) for the Topology seminar at the University of Edinburgh in November 2012. The slides of the presentation are available at http://www.maths.ed.ac.uk/~aar/kirbyslides.pdf. Links to the videos of these lectures and other references can be found on http://www.maths.ed.ac.uk/~aar/kirby .
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