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Mathematical logic is the study of formal logic within mathematics. Major subareas include model theory, proof theory, set theory, and recursion theory (also known as computability theory). Research in mathematical logic commonly addresses the mathematical properties of formal systems of logic such as their expressive or deductive power. However, it can also include uses of logic to characterize correct mathematical reasoning or to establish foundations of mathematics. Since its inception, mathematical logic has both contributed to and been motivated by the study of foundations of mathematics. This study began in the late 19th century with the development of axiomatic frameworks for geometry, arithmetic, and analysis. In the early 20th century it was shaped by David Hilbert's program to prove the consistency of foundational theories. Results of Kurt Gödel, Gerhard Gentzen, and others provided partial resolution to the program, and clarified the issues involved in proving consistency. Work in set theory showed that almost all ordinary mathematics can be formalized in terms of sets, although there are some theorems that cannot be proven in common axiom systems for set theory. Contemporary work in the foundations of mathematics often focuses on establishing which parts of mathematics can be formalized in particular formal systems (as in reverse mathematics) rather than trying to find theories in which all of mathematics can be developed. The Handbook of Mathematical Logic in 1977 makes a rough division of contemporary mathematical logic into four areas: set theory model theory recursion theory, and proof theory and constructive mathematics (considered as parts of a single area). Additionally, sometimes the field of computational complexity theory is also included as part of mathematical logic. Each area has a distinct focus, although many techniques and results are shared among multiple areas. The borderlines amongst these fields, and the lines separating mathematical logic and other fields of mathematics, are not always sharp.