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student takes ID course id sec id semester ID name dept name tot_cred grade section course course id title dept name credits department dept name building budget advisor sec i0 semester ear building room_no time slot id time slot time slot day start time end_time prere instructor classroonm ID name dept name salary room n0 capacity teaches ID course id sec id semester ear Figure 2.8 Schema diagram for the university database. Find the titles of all courses that have been taught in every semester/year. write your answer to the problem using only fundamental operations. Express your answers in relational algebra. Your queries should NOT include unneeded relations