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Reverted sympy_tests.SubstitutionTests to behavior closer to current master.

- had replaced expression.subs() with recursive_substitution() since the first one did not rename namespaced parameters, which is not replaced with substitute() which is the namespace-aware wrapper of expression.subs()
- sympy.py: replaced a failure-catching if statement which should never occur with an assert()
- added kwargs to utils.sympy.substitute() and ExpressionScalar.subs()

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