Engineering Computation With MATLAB

Modern statistical methods use complex, sophisticated models that can lead to intractable computations. Saddlepoint approximations can be the answer. Written from the user's point of view, this book explains in clear language how such approximate probability computations are made, taking readers from the very beginnings to current applications. The core material is presented in chapters 1-6 at an elementary mathematical level. Chapters 7-9 then give a highly readable account of higher-order asymptotic inference. Later chapters address areas where saddlepoint methods have had substantial impact: multivariate testing, stochastic systems and applied probability, bootstrap implementation in the transform domain, and Bayesian computation and inference. No previous background in the area is required. Data examples from real applications demonstrate the practical value of the methods. Ideal for graduate students and researchers in statistics, biostatistics, electrical engineering, econometric

What are the principles behind intelligent systems? How are they built? What are intelligent systems useful for? How do we choose the right tool for the job? These questions are answered by Michael Negnevitsky’s Artificial Intelligence: A Guide to Intelligent Systems.Unlike many books on computer intelligence, which use complex computer science terminology and are crowded with complex matrix algebra and differential equations, this text demonstrates that the ideas behind intelligent systems are simple and straightforward. This text assumes little or no programming experience as it tackles topics like expert systems, fuzzy systems, artificial neural networks, evolutionary computation, knowledge engineering, and data mining.TABLE OF CONTENTS1. Introduction to Intelligent Systems 1.1 Intelligent Machines, or What Machines Can Do 1.2 The History of Artificial Intelligence, or From the ‘Dark Ages’ to Knowledge-based Systems 1.3 Generative AI 1.4 Summary Questions fo

A comprehensive introduction to the field of autonomous robotics aimed at upper-level undergraduates and offering additional online resources.Textbooks that provide a broad algorithmic perspective on the mechanics and dynamics of robots almost unfailingly serve students at the graduate level. Introduction to Autonomous Robots offers a much-needed resource for teaching third- and fourth-year undergraduates the computational fundamentals behind the design and control of autonomous robots. The authors use a class-tested and accessible approach to present progressive, step-by-step development concepts, alongside a wide range of real-world examples and fundamental concepts in mechanisms, sensing and actuation, computation, and uncertainty. Throughout, the authors balance the impact of hardware (mechanism, sensor, actuator) and software (algorithms) in teaching robot autonomy. Features:Rigorous and tested in the classroomWritten for engineering and computer science undergraduates with a soph

This self-contained introduction to machine learning, designed from the start with engineers in mind, will equip students with everything they need to start applying machine learning principles and algorithms to real-world engineering problems. With a consistent emphasis on the connections between estimation, detection, information theory, and optimization, it includes: an accessible overview of the relationships between machine learning and signal processing, providing a solid foundation for further study; clear explanations of the differences between state-of-the-art techniques and more classical methods, equipping students with all the understanding they need to make informed technique choices; demonstration of the links between information-theoretical concepts and their practical engineering relevance; reproducible examples using Matlab, enabling hands-on student experimentation. Assuming only a basic understanding of probability and linear algebra, and accompanied by lecture slide

Presenting students with a comprehensive and efficient approach to the modelling, simulation, and analysis of dynamic systems, this textbook addresses mechanical, electrical, thermal and fluid systems, feedback control systems, and their combinations. It features a robust introduction to fundamental mathematical prerequisites, suitable for students from a range of backgrounds; clearly established three-key procedures – fundamental principles, basic elements, and ways of analysis – for students to build on in confidence as they explore new topics; over 300 end-of-chapter problems, with solutions available for instructors, to solidify a hands-on understanding; and clear and uncomplicated examples using MATLAB®/Simulink® and Mathematica®, to introduce students to computational approaches. With a capstone chapter focused on the application of these techniques to real-world engineering problems, this is an ideal resource for a single-semester course in dynamic systems for students in mechan

A concise introduction to geophysical data processing - many of the techniques associated with the general field of time series analysis - for advanced students, researchers, and professionals. The textbook begins with calculus before transitioning to discrete time series via the sampling theorem, aliasing, use of complex sinusoids, development of the discrete Fourier transform from the Fourier series, and an overview of linear digital filter types and descriptions. Aimed at senior undergraduate and graduate students in geophysics, environmental science, and engineering with no previous background in linear algebra, probability, or statistics, this textbook draws scenarios and datasets from across the world of geophysics, and shows how data processing techniques can be applied to real-world problems using detailed examples, illustrations, and exercises (using MATLAB or similar computing environment). Online supplementary resources include datasets for students, and a solutions manual a

Following the emergence of quantum computing, the subsequent quantum revolution will be that of interconnecting individual quantum computers at the global level. In the same way that classical computers only realised their full potential with the emergence of the internet, a fully-realised quantum internet is the next stage of evolution for quantum computation. This cutting-edge book examines in detail how the quantum internet would evolve in practise, focusing not only on the technology itself, but also the implications it will have economically and politically, with numerous non-technical sections throughout the text providing broader context to the discussion. The book begins with a description of classical networks before introducing the key concepts behind quantum networks, such as quantum internet protocols, quantum cryptography, and cloud quantum computing. Written in an engaging style and accessible to graduate students in physics, engineering, computer science and mathematics.

Linear algebra is something all mathematics undergraduates and many other students, in subjects ranging from engineering to economics, have to learn. The fifth edition of this hugely successful textbook retains the quality of earlier editions while at the same time seeing numerous minor improvements and major additions. The latter include: a new chapter on singular values and singular vectors, including ways to analyze a matrix of data; a revised chapter on computing in linear algebra, with professional-level algorithms and code that can be downloaded for a variety of languages; a new section on linear algebra and cryptography; and a new chapter on linear algebra in probability and statistics. A dedicated and active website also offers solutions to exercises as well as new exercises from many different sources (e.g. practice problems, exams, development of textbook examples), plus codes in MATLAB, Julia, and Python.

Geopressure, or pore pressure in subsurface rock formations impacts hydrocarbon resource estimation, drilling, and drilling safety in operations. This book provides a comprehensive overview of geopressure analysis bringing together rock physics, seismic technology, quantitative basin modeling and geomechanics. It provides a fundamental physical and geological basis for understanding geopressure by explaining the coupled mechanical and thermal processes. It also brings together state-of-the-art tools and technologies for analysis and detection of geopressure, along with the associated uncertainty. Prediction and detection of shallow geohazards and gas hydrates is also discussed and field examples are used to illustrate how models can be practically applied. With supplementary MATLAB® codes and exercises available online, this is an ideal resource for students, researchers and industry professionals in geoscience and petroleum engineering looking to understand and analyse subsurface form

Symbolic dynamics is a mature yet rapidly developing area of dynamical systems. It has established strong connections with many areas, including linear algebra, graph theory, probability, group theory, and the theory of computation, as well as data storage, statistical mechanics, and $C^*$-algebras. This Second Edition maintains the introductory character of the original 1995 edition as a general textbook on symbolic dynamics and its applications to coding. It is written at an elementary level and aimed at students, well-established researchers, and experts in mathematics, electrical engineering, and computer science. Topics are carefully developed and motivated with many illustrative examples. There are more than 500 exercises to test the reader's understanding. In addition to a chapter in the First Edition on advanced topics and a comprehensive bibliography, the Second Edition includes a detailed Addendum, with companion bibliography, describing major developments and new research di

Build the skills for determining appropriate error limits for quantities that matter with this essential toolkit. Understand how to handle a complete project and how uncertainty enters into various steps. Provides a systematic, worksheet-based process to determine error limits on measured quantities, and all likely sources of uncertainty are explored, measured or estimated. Features instructions on how to carry out error analysis using Excel and MATLAB®, making previously tedious calculations easy. Whether you are new to the sciences or an experienced engineer, this useful resource provides a practical approach to performing error analysis. Suitable as a text for a junior or senior level laboratory course in aerospace, chemical and mechanical engineering, and for professionals.

Build the skills for determining appropriate error limits for quantities that matter with this essential toolkit. Understand how to handle a complete project and how uncertainty enters into various steps. Provides a systematic, worksheet-based process to determine error limits on measured quantities, and all likely sources of uncertainty are explored, measured or estimated. Features instructions on how to carry out error analysis using Excel and MATLAB®, making previously tedious calculations easy. Whether you are new to the sciences or an experienced engineer, this useful resource provides a practical approach to performing error analysis. Suitable as a text for a junior or senior level laboratory course in aerospace, chemical and mechanical engineering, and for professionals.

Designing engineering components that make optimal use of materials requires consideration of the nonlinear static and dynamic characteristics associated with both manufacturing and working environments. The modeling of these characteristics can only be done through numerical formulation and simulation, which requires an understanding of both the theoretical background and associated computer solution techniques. By presenting nonlinear solid mechanics, dynamic conservation laws and principles, and the associated finite element techniques together, the authors provide in this second book a unified treatment of the dynamic simulation of nonlinear solids. Alongside a number of worked examples and exercises are user instructions, program descriptions, and examples for two MATLAB computer implementations for which source codes are available online. While this book is designed to complement postgraduate courses, it is also relevant to those in industry requiring an appreciation of the way t

This second edition extends the rigorous, self-contained exposition of the theory for viscoelastic wave propagation in layered media to include head waves and general ray theory. The theory, not published elsewhere, provides solutions for fundamental wave-propagation and ray-theory problems valid for any media with a linear response, elastic or anelastic. It explains measurable variations in wave speed, particle motion, and attenuation of body waves, surface waves, and head waves induced at anelastic material boundaries that do not occur for elastic waves. This book may be used as a textbook for advanced university courses and as a research reference in seismology, exploration geophysics, engineering, solid mechanics, and acoustics. It provides computation steps for ray-tracing computer algorithms to develop a variety of tomography inferred anelastic models, such as those for the Earth's deep interior and petroleum reserves. Numerical results and problem sets emphasize important aspect

Seismic data must be interpreted using digital signal processing techniques in order to create accurate representations of petroleum reservoirs and the interior structure of the Earth. This book provides an advanced overview of digital signal processing (DSP) and its applications to exploration seismology using real-world examples. The book begins by introducing seismic theory, describing how to identify seismic events in terms of signals and noise, and how to convert seismic data into the language of DSP. Deterministic DSP is then covered, together with non-conventional sampling techniques. The final part covers statistical seismic signal processing via Wiener optimum filtering, deconvolution, linear-prediction filtering and seismic wavelet processing. With over sixty end-of-chapter exercises, seismic data sets and data processing MATLAB codes included, this is an ideal resource for electrical engineering students unfamiliar with seismic data, and for Earth Scientists and petroleum pr

This groundbreaking textbook combines straightforward explanations with a wealth of practical examples to offer an innovative approach to teaching linear algebra. Requiring no prior knowledge of the subject, it covers the aspects of linear algebra - vectors, matrices, and least squares - that are needed for engineering applications, discussing examples across data science, machine learning and artificial intelligence, signal and image processing, tomography, navigation, control, and finance. The numerous practical exercises throughout allow students to test their understanding and translate their knowledge into solving real-world problems, with lecture slides, additional computational exercises in Julia and MATLAB®, and data sets accompanying the book online. Suitable for both one-semester and one-quarter courses, as well as self-study, this self-contained text provides beginning students with the foundation they need to progress to more advanced study.

Modern scientific computational methods are undergoing a transformative change; big data and statistical learning methods now have the potential to outperform the classical first-principles modeling paradigm. This book bridges this transition, connecting the theory of probability, stochastic processes, functional analysis, numerical analysis, and differential geometry. It describes two classes of computational methods to leverage data for modeling dynamical systems. The first is concerned with data fitting algorithms to estimate parameters in parametric models that are postulated on the basis of physical or dynamical laws. The second is on operator estimation, which uses the data to nonparametrically approximate the operator generated by the transition function of the underlying dynamical systems. This self-contained book is suitable for graduate studies in applied mathematics, statistics, and engineering. Carefully chosen elementary examples with supplementary MATLAB® codes and append

This introduction to finite difference and finite element methods is aimed at graduate students who need to solve differential equations. The prerequisites are few (basic calculus, linear algebra, and ODEs) and so the book will be accessible and useful to readers from a range of disciplines across science and engineering. Part I begins with finite difference methods. Finite element methods are then introduced in Part II. In each part, the authors begin with a comprehensive discussion of one-dimensional problems, before proceeding to consider two or higher dimensions. An emphasis is placed on numerical algorithms, related mathematical theory, and essential details in the implementation, while some useful packages are also introduced. The authors also provide well-tested MATLAB® codes, all available online.

This introduction to finite difference and finite element methods is aimed at graduate students who need to solve differential equations. The prerequisites are few (basic calculus, linear algebra, and ODEs) and so the book will be accessible and useful to readers from a range of disciplines across science and engineering. Part I begins with finite difference methods. Finite element methods are then introduced in Part II. In each part, the authors begin with a comprehensive discussion of one-dimensional problems, before proceeding to consider two or higher dimensions. An emphasis is placed on numerical algorithms, related mathematical theory, and essential details in the implementation, while some useful packages are also introduced. The authors also provide well-tested MATLAB® codes, all available online.

Advanced Electromagnetic Computation with MATLAB® discusses commercial electromagnetic software, widely used in the industry. Algorithms of Finite Differences, Moment method, Finite Element method and

Developed from three decades' worth of lecture notes which the author used to teach at the Massachusetts Institute of Technology, this unique textbook presents a comprehensive treatment of structural dynamics and mechanical vibration. The chapters in this book are self-contained so that instructors can choose to be selective about which topics they teach. Written with an application-based focus, the text covers topics such as earthquake engineering, soil dynamics, and relevant numerical methods techniques that use MATLAB. Advanced topics such as the Hilbert transform, gyroscope forces, and spatially periodic structures are also treated extensively. Concise enough for an introductory course yet rigorous enough for an advanced or graduate-level course, this textbook is also a useful reference manual - even after the final exam - for professional and practicing engineers.

Written specifically for a one-semester course, this textbook introduces the physical and engineering principles of communication systems using an accessible, yet mathematically rigorous, approach. Beginning with valuable background material on signals and systems, and random processes, the text then guides students through the core topics, including amplitude modulation, pulse modulation, and noise. Key terms and formulae are highlighted throughout to help students identify essential points easily. Worked examples, practice problems, and review questions reinforce concepts and enable students to develop confidence in solving problems on their own. To help visualize the concepts discussed, MATLAB-based exercises and examples are provided throughout, supported by an introductory appendix for students who are new to MATLAB. Each chapter ends with a practical applications section, showing students how concepts are used in real-life communication scenarios and devices. Figures from the boo

Designing engineering components that make optimal use of materials requires consideration of the nonlinear static and dynamic characteristics associated with both manufacturing and working environments. The modeling of these characteristics can only be done through numerical formulation and simulation, which requires an understanding of both the theoretical background and associated computer solution techniques. By presenting both the nonlinear solid mechanics and the associated finite element techniques together, the authors provide, in the first of two books in this series, a complete, clear, and unified treatment of the static aspects of nonlinear solid mechanics. Alongside a range of worked examples and exercises are user instructions, program descriptions, and examples for the FLagSHyP MATLAB computer implementation, for which the source code is available online. While this book is designed to complement postgraduate courses, it is also relevant to those in industry requiring an

This comprehensive and accessible text teaches the fundamentals of digital communication via a top-down-reversed approach, specifically formulated for a one-semester course. The unique approach focuses on the transmission problem and develops knowledge of receivers before transmitters. In doing so it cuts straight to the heart of the digital communication problem, enabling students to learn quickly, intuitively, and with minimal background knowledge. Beginning with the decision problem faced by a decoder and going on to cover receiver designs for different channels, hardware constraints, design trade-offs, convolutional coding, Viterbi decoding, and passband communication, detail is given on system-level design as well as practical applications in engineering. All of this is supported by numerous worked examples, homework problems, and MATLAB simulation exercises to aid self-study, providing a solid basis for students to specialize in the field of digital communication and making it su

This book presents a focused, readable account of the principal physical and mathematical ideas at the heart of fluid dynamics. Graduate students in engineering, applied math and physics taking their first graduate course in fluids will find this book invaluable in providing the background in physics and mathematics necessary to pursue advanced study. The exposition follows an arc through the subject building towards a detailed derivation of the Navier–Stokes and energy equations followed by many examples of their use in studying the dynamics of fluid flows. Modern tensor analysis is used to simplify the mathematical derivations thus allowing a clearer view of the physics. The motivation behind many fundamental concepts such as Bernoulli's equation and the stream function are included. Many exercises are designed with a view toward using MATLAB® or equivalent to simplify and extend the analysis of fluid motion including developing flow simulations based on techniques described in the b

'Big data' poses challenges that require both classical multivariate methods and contemporary techniques from machine learning and engineering. This modern text equips you for the new world - integrating the old and the new, fusing theory and practice and bridging the gap to statistical learning. The theoretical framework includes formal statements that set out clearly the guaranteed 'safe operating zone' for the methods and allow you to assess whether data is in the zone, or near enough. Extensive examples showcase the strengths and limitations of different methods with small classical data, data from medicine, biology, marketing and finance, high-dimensional data from bioinformatics, functional data from proteomics, and simulated data. High-dimension low-sample-size data gets special attention. Several data sets are revisited repeatedly to allow comparison of methods. Generous use of colour, algorithms, Matlab code, and problem sets complete the package. Suitable for master's/graduat

Filtering and smoothing methods are used to produce an accurate estimate of the state of a time-varying system based on multiple observational inputs (data). Interest in these methods has exploded in recent years, with numerous applications emerging in fields such as navigation, aerospace engineering, telecommunications and medicine. This compact, informal introduction for graduate students and advanced undergraduates presents the current state-of-the-art filtering and smoothing methods in a unified Bayesian framework. Readers learn what non-linear Kalman filters and particle filters are, how they are related, and their relative advantages and disadvantages. They also discover how state-of-the-art Bayesian parameter estimation methods can be combined with state-of-the-art filtering and smoothing algorithms. The book's practical and algorithmic approach assumes only modest mathematical prerequisites. Examples include Matlab computations, and the numerous end-of-chapter exercises include

Filtering and smoothing methods are used to produce an accurate estimate of the state of a time-varying system based on multiple observational inputs (data). Interest in these methods has exploded in recent years, with numerous applications emerging in fields such as navigation, aerospace engineering, telecommunications and medicine. This compact, informal introduction for graduate students and advanced undergraduates presents the current state-of-the-art filtering and smoothing methods in a unified Bayesian framework. Readers learn what non-linear Kalman filters and particle filters are, how they are related, and their relative advantages and disadvantages. They also discover how state-of-the-art Bayesian parameter estimation methods can be combined with state-of-the-art filtering and smoothing algorithms. The book's practical and algorithmic approach assumes only modest mathematical prerequisites. Examples include Matlab computations, and the numerous end-of-chapter exercises include

This book is an integrated approach to kinematic and dynamic analysis. The matrix techniques presented are general and fully applicable to two- or three-dimensional systems. They lend themselves to programming and digital computation and can act as the basis of a usable tool for designers. Techniques have broad applicability to the design analysis of all multibody mechanical systems. The more powerful and more flexible the approach, and the less specialisation and reprogramming required for each application, the better. The matrix methods presented have been developed using these ideas as primary goals. Matrix methods can be applied by hand to such problems as the slider-crank mechanism, but this is not the intent of this text, and often the rigor required for such an attempt becomes quite burdensome in comparison with other techniques. The matrix methods have been extensively tested, both in the classroom and in the world of engineering industry.

Inverse problems are of interest and importance across many branches of physics, mathematics, engineering and medical imaging. In this text, the foundations of imaging and wavefield inversion are presented in a clear and systematic way. The necessary theory is gradually developed throughout the book, progressing from simple wave equation based models to vector wave models. By combining theory with numerous MATLAB based examples, the author promotes a complete understanding of the material and establishes a basis for real world applications. Key topics of discussion include the derivation of solutions to the inhomogeneous and homogeneous Helmholtz equations using Green function techniques; the propagation and scattering of waves in homogeneous and inhomogeneous backgrounds; and the concept of field time reversal. Bridging the gap between mathematics and physics, this multidisciplinary book will appeal to graduate students and researchers alike. Additional resources including MATLAB code

Filtering and system identification are powerful techniques for building models of complex systems. This 2007 book discusses the design of reliable numerical methods to retrieve missing information in models derived using these techniques. Emphasis is on the least squares approach as applied to the linear state-space model, and problems of increasing complexity are analyzed and solved within this framework, starting with the Kalman filter and concluding with the estimation of a full model, noise statistics and state estimator directly from the data. Key background topics, including linear matrix algebra and linear system theory, are covered, followed by different estimation and identification methods in the state-space model. With end-of-chapter exercises, MATLAB simulations and numerous illustrations, this book will appeal to graduate students and researchers in electrical, mechanical and aerospace engineering. It is also useful for practitioners. Additional resources for this title,

State-of-the-art analysis of geological structures has become increasingly quantitative but traditionally, graphical methods are used in teaching. This innovative lab book provides a unified methodology for problem-solving in structural geology using linear algebra and computation. Assuming only limited mathematical training, the book begins with classic orientation problems and progresses to more fundamental topics of stress, strain and error propagation. It introduces linear algebra methods as the foundation for understanding vectors and tensors, and demonstrates the application of geometry and kinematics in geoscience without requiring students to take a supplementary mathematics course. All algorithms are illustrated with a suite of online MATLAB functions, allowing users to modify the code to solve their own structural problems. Containing 20 worked examples and over 60 exercises, this is the ideal lab book for advanced undergraduates or beginning graduate students. It will also p

State-of-the-art analysis of geological structures has become increasingly quantitative but traditionally, graphical methods are used in teaching. This innovative lab book provides a unified methodology for problem-solving in structural geology using linear algebra and computation. Assuming only limited mathematical training, the book begins with classic orientation problems and progresses to more fundamental topics of stress, strain and error propagation. It introduces linear algebra methods as the foundation for understanding vectors and tensors, and demonstrates the application of geometry and kinematics in geoscience without requiring students to take a supplementary mathematics course. All algorithms are illustrated with a suite of online MATLAB functions, allowing users to modify the code to solve their own structural problems. Containing 20 worked examples and over 60 exercises, this is the ideal lab book for advanced undergraduates or beginning graduate students. It will also p

Master the basic concepts and methodologies of digital signal processing with this systematic introduction, without the need for an extensive mathematical background. The authors lead the reader through the fundamental mathematical principles underlying the operation of key signal processing techniques, providing simple arguments and cases rather than detailed general proofs. Coverage of practical implementation, discussion of the limitations of particular methods and plentiful MATLAB illustrations allow readers to better connect theory and practice. A focus on algorithms that are of theoretical importance or useful in real-world applications ensures that students cover material relevant to engineering practice, and equips students and practitioners alike with the basic principles necessary to apply DSP techniques to a variety of applications. Chapters include worked examples, problems and computer experiments, helping students to absorb the material they have just read. Lecture slides

This textbook teaches students the principles, materials and applications they need to understand and analyze heat transfer problems they will encounter in practice. The emphasis on modern practical problems (including thermoelectric cooling) in numerous examples, sets this apart from other titles. This book discusses heat transfer problems (in search of innovative and optimal solutions) and the engineering analysis, to motivate fundamental principles and analytical problem solving methods. By introducing heat flux tracking, students develop intuition about the central role of heat transfer in engineered systems. The energy conversion mechanisms (to and from thermal energy) are integrated into the treatment, thus allowing for realistic design of thermal systems. Microscale heat carriers are also covered. MATLAB® software is included, along with other rich materials available on the website, www.cambridge.org/kaviany. A complete solutions manual for the numerous exercises is available t

This work is a compilation of fundamental solutions (or Green's functions) for classical or canonical problems in elastodynamics presented with a common format and notation. These formulas describe the displacements and stresses elicited by dynamic sources in solid elastic media like full spaces, half-spaces, strata and plates in both two and three dimensions, using the three major coordinate systems (Cartesian, cylindrical and spherical), and also for transient and harmonic motions. Such formulas are useful for numerical methods and practical application to problems of wave propagation in elasticity, soil dynamics, earthquake engineering, mechanical vibration, or geophysics. These formulas were heretofore only found scattered throughout the literature. The solutions are tabulated without proof, but giving reference to appropriate modern papers and books containing full derivations. Most formulas in the book have been programmed and tested within the MATLAB environment. The program lis

Hidden Markov processes (HMPs) are important objects of study in many areas of pure and applied mathematics, including information theory, probability theory, dynamical systems and statistical physics, with applications in electrical engineering, computer science and molecular biology. This collection of research and survey papers presents important new results and open problems, serving as a unifying gateway for researchers in these areas. Based on talks given at the Banff International Research Station Workshop, 2007, this volume addresses a central problem of the subject: computation of the Shannon entropy rate of an HMP. This is a key quantity in statistical physics and information theory, characterising the fundamental limit on compression and closely related to channel capacity, the limit on reliable communication. Also discussed, from a symbolic dynamics and thermodynamical viewpoint, is the problem of characterizing the mappings between dynamical systems which map Markov measur