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Feat/em composition learning (#2741)

• Project: remove residual references to System and Process

• projection.py
  - change assert to exception with improved error messages if port_spec is bad

* learningfunctions.py
  - BackPropagation._function(): remove error_matrix from signature
  - implement EMStorage

• learning_mechanism.py
  - _instantiate_output_ports: support specification dictionary for learning_signal

• emcomposition.py
  - _construct_storage_node(): partially implemented

• EMstoragemechanism.py
  - implemented and passing tests
  - Fixed import of Literal


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Co-authored-by: jdcpni <pniintel55>

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