p106: yeliding -> yielding
p136: but and -> but an
p139: constraint it not -> constraint is not
p140: have to examples -> have two examples
p143: paragraph ends mid-sentence. Maybe TODO?
p148: togeter -> together
p156 it's own -> its own
p163: trucated -> truncated
p170: x1, u, ..., xn, u: I think this should be x1 * u, ..., xn * u.