The place deep studying meets chaos

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For us deep studying practitioners, the world is – not flat, however – linear, largely. Or piecewise linear. Like different linear approximations, or possibly much more so, deep studying could be extremely profitable at making predictions. However let’s admit it – typically we simply miss the joys of the nonlinear, of excellent, previous, deterministic-yet-unpredictable chaos. Can we now have each? It seems like we will. On this put up, we’ll see an utility of deep studying (DL) to nonlinear time collection prediction – or somewhat, the important step that predates it: reconstructing the attractor underlying its dynamics. Whereas this put up is an introduction, presenting the subject from scratch, additional posts will construct on this and extrapolate to observational datasets.

What to anticipate from this put up

In his 2020 paper Deep reconstruction of unusual attractors from time collection (Gilpin 2020), William Gilpin makes use of an autoencoder structure, mixed with a regularizer implementing the false nearest neighbors statistic (Kennel, Brown, and Abarbanel 1992), to reconstruct attractors from univariate observations of multivariate, nonlinear dynamical programs. In the event you really feel you fully perceive the sentence you simply learn, it’s possible you’ll as nicely straight soar to the paper – come again for the code although. If, however, you’re extra aware of the chaos in your desk (extrapolating … apologies) than chaos idea chaos, learn on. Right here, we’ll first go into what it’s all about, after which, present an instance utility, that includes Edward Lorenz’s well-known butterfly attractor. Whereas this preliminary put up is primarily imagined to be a enjoyable introduction to an enchanting subject, we hope to observe up with functions to real-world datasets sooner or later.

Rabbits, butterflies, and low-dimensional projections: Our downside assertion in context

In curious misalignment with how we use “chaos” in day-to-day language, chaos, the technical idea, could be very totally different from stochasticity, or randomness. Chaos could emerge from purely deterministic processes – very simplistic ones, even. Let’s see how; with rabbits.

Rabbits, or: Delicate dependence on preliminary circumstances

Chances are you’ll be aware of the logistic equation, used as a toy mannequin for inhabitants progress. Typically it’s written like this – with (x) being the scale of the inhabitants, expressed as a fraction of the maximal dimension (a fraction of potential rabbits, thus), and (r) being the expansion price (the speed at which rabbits reproduce):

x_{n + 1} = r x_n (1 – x_n)

This equation describes an iterated map over discrete timesteps (n). Its repeated utility leads to a trajectory describing how the inhabitants of rabbits evolves. Maps can have mounted factors, states the place additional perform utility goes on producing the identical consequence eternally. Instance-wise, say the expansion price quantities to (2.1), and we begin at two (fairly totally different!) preliminary values, (0.3) and (0.8). Each trajectories arrive at a set level – the identical mounted level – in fewer than 10 iterations. Have been we requested to foretell the inhabitants dimension after 100 iterations, we might make a really assured guess, regardless of the of beginning worth. (If the preliminary worth is (0), we keep at (0), however we could be fairly sure of that as nicely.)

Determine 1: Trajectory of the logistic map for r = 2.1 and two totally different preliminary values.

What if the expansion price have been considerably larger, at (3.3), say? Once more, we instantly evaluate trajectories ensuing from preliminary values (0.3) and (0.9):

Determine 2: Trajectory of the logistic map for r = 3.3 and two totally different preliminary values.

This time, don’t see a single mounted level, however a two-cycle: Because the trajectories stabilize, inhabitants dimension inevitably is at one among two potential values – both too many rabbits or too few, you might say. The 2 trajectories are phase-shifted, however once more, the attracting values – the attractor – is shared by each preliminary circumstances. So nonetheless, predictability is fairly excessive. However we haven’t seen the whole lot but.

Let’s once more improve the expansion price some. Now this (actually) is chaos:

Determine 3: Trajectory of the logistic map for r = 3.6 and two totally different preliminary values, 0.3 and 0.9.

Even after 100 iterations, there isn’t any set of values the trajectories recur to. We are able to’t be assured about any prediction we’d make.

Or can we? In spite of everything, we now have the governing equation, which is deterministic. So we should always be capable of calculate the scale of the inhabitants at, say, time (150)? In precept, sure; however this presupposes we now have an correct measurement for the beginning state.

How correct? Let’s evaluate trajectories for preliminary values (0.3) and (0.301):

Determine 4: Trajectory of the logistic map for r = 3.6 and two totally different preliminary values, 0.3 and 0.301.

At first, trajectories appear to leap round in unison; however in the course of the second dozen iterations already, they dissociate an increasing number of, and more and more, all bets are off. What if preliminary values are actually shut, as in, (0.3) vs. (0.30000001)?

It simply takes a bit longer for the disassociation to floor.

Determine 5: Trajectory of the logistic map for r = 3.6 and two totally different preliminary values, 0.3 and 0.30000001.

What we’re seeing right here is delicate dependence on preliminary circumstances, a necessary precondition for a system to be chaotic. In an nutshell: Chaos arises when a deterministic system exhibits delicate dependence on preliminary circumstances. Or as Edward Lorenz is claimed to have put it,

When the current determines the longer term, however the approximate current doesn’t roughly decide the longer term.

Now if these unstructured, random-looking level clouds represent chaos, what with the all-but-amorphous butterfly (to be displayed very quickly)?

Butterflies, or: Attractors and unusual attractors

Truly, within the context of chaos idea, the time period butterfly could also be encountered in several contexts.

Firstly, as so-called “butterfly impact,” it’s an instantiation of the templatic phrase “the flap of a butterfly’s wing in _________ profoundly impacts the course of the climate in _________.” On this utilization, it’s largely a metaphor for delicate dependence on preliminary circumstances.

Secondly, the existence of this metaphor led to a Rorschach-test-like identification with two-dimensional visualizations of attractors of the Lorenz system. The Lorenz system is a set of three first-order differential equations designed to explain atmospheric convection:

& frac{dx}{dt} = sigma (y – x)
& frac{dy}{dt} = rho x – x z – y
& frac{dz}{dt} = x y – beta z

This set of equations is nonlinear, as required for chaotic habits to seem. It additionally has the required dimensionality, which for clean, steady programs, is a minimum of 3. Whether or not we really see chaotic attractors – amongst which, the butterfly – is dependent upon the settings of the parameters (sigma), (rho) and (beta). For the values conventionally chosen, (sigma=10), (rho=28), and (beta=8/3) , we see it when projecting the trajectory on the (x) and (z) axes:

Determine 6: Two-dimensional projections of the Lorenz attractor for sigma = 10, rho = 28, beta = 8 / 3. On the appropriate: the butterfly.

The butterfly is an attractor (as are the opposite two projections), however it’s neither some extent nor a cycle. It’s an attractor within the sense that ranging from a wide range of totally different preliminary values, we find yourself in some sub-region of the state area, and we don’t get to flee no extra. That is simpler to see when watching evolution over time, as on this animation:

Determine 7: How the Lorenz attractor traces out the well-known “butterfly” form.

Now, to plot the attractor in two dimensions, we threw away the third. However in “actual life,” we don’t normally have too a lot data (though it could typically look like we had). We’d have a variety of measurements, however these don’t normally mirror the precise state variables we’re taken with. In these circumstances, we could need to really add data.

Embeddings (as a non-DL time period), or: Undoing the projection

Assume that as a substitute of all three variables of the Lorenz system, we had measured only one: (x), the speed of convection. Typically in nonlinear dynamics, the strategy of delay coordinate embedding (Sauer, Yorke, and Casdagli 1991) is used to reinforce a collection of univariate measurements.

On this technique – or household of strategies – the univariate collection is augmented by time-shifted copies of itself. There are two choices to be made: What number of copies so as to add, and the way huge the delay needs to be. As an instance, if we had a scalar collection,

1 2 3 4 5 6 7 8 9 10 11 ...

a three-dimensional embedding with time delay 2 would appear like this:

1 3 5
2 4 6
3 5 7
4 6 8
5 7 9
6 8 10
7 9 11

Of the 2 choices to be made – variety of shifted collection and time lag – the primary is a choice on the dimensionality of the reconstruction area. Numerous theorems, reminiscent of Taken’s theorem, point out bounds on the variety of dimensions required, offered the dimensionality of the true state area is understood – which, in real-world functions, typically will not be the case.The second has been of little curiosity to mathematicians, however is essential in apply. In reality, Kantz and Schreiber (Kantz and Schreiber 2004) argue that in apply, it’s the product of each parameters that issues, because it signifies the time span represented by an embedding vector.

How are these parameters chosen? Concerning reconstruction dimensionality, the reasoning goes that even in chaotic programs, factors which can be shut in state area at time (t) ought to nonetheless be shut at time (t + Delta t), offered (Delta t) could be very small. So say we now have two factors which can be shut, by some metric, when represented in two-dimensional area. However in three dimensions, that’s, if we don’t “undertaking away” the third dimension, they’re much more distant. As illustrated in (Gilpin 2020):

Determine 8: Within the two-dimensional projection on axes x and y, the purple factors are shut neighbors. In 3d, nevertheless, they’re separate. Examine with the blue factors, which keep shut even in higher-dimensional area. Determine from Gilpin (2020).

If this occurs, then projecting down has eradicated some important data. In second, the factors have been false neighbors. The false nearest neighbors (FNN) statistic can be utilized to find out an sufficient embedding dimension, like this:

For every level, take its closest neighbor in (m) dimensions, and compute the ratio of their distances in (m) and (m+1) dimensions. If the ratio is bigger than some threshold (t), the neighbor was false. Sum the variety of false neighbors over all factors. Do that for various (m) and (t), and examine the ensuing curves.

At this level, let’s look forward on the autoencoder strategy. The autoencoder will use that very same FNN statistic as a regularizer, along with the standard autoencoder reconstruction loss. This may end in a brand new heuristic concerning embedding dimensionality that entails fewer choices.

Going again to the traditional technique for an instantaneous, the second parameter, the time lag, is much more troublesome to type out (Kantz and Schreiber 2004). Often, mutual data is plotted for various delays after which, the primary delay the place it falls beneath some threshold is chosen. We don’t additional elaborate on this query as it’s rendered out of date within the neural community strategy. Which we’ll see now.

Studying the Lorenz attractor

Our code intently follows the structure, parameter settings, and information setup used within the reference implementation William offered. The loss perform, particularly, has been ported one-to-one.

The final concept is the next. An autoencoder – for instance, an LSTM autoencoder as offered right here – is used to compress the univariate time collection right into a latent illustration of some dimensionality, which can represent an higher sure on the dimensionality of the discovered attractor. Along with imply squared error between enter and reconstructions, there might be a second loss time period, making use of the FNN regularizer. This leads to the latent models being roughly ordered by significance, as measured by their variance. It’s anticipated that someplace within the itemizing of variances, a pointy drop will seem. The models earlier than the drop are then assumed to encode the attractor of the system in query.

On this setup, there may be nonetheless a option to be made: methods to weight the FNN loss. One would run coaching for various weights (lambda) and search for the drop. Absolutely, this might in precept be automated, however given the novelty of the strategy – the paper was printed this yr – it is sensible to deal with thorough evaluation first.

Information technology

We use the deSolve package deal to generate information from the Lorenz equations.


parameters <- c(sigma = 10,
                rho = 28,
                beta = 8/3)

initial_state <-
  c(x = -8.60632853,
    y = -14.85273055,
    z = 15.53352487)

lorenz <- perform(t, state, parameters) {
  with(as.checklist(c(state, parameters)), {
    dx <- sigma * (y - x)
    dy <- x * (rho - z) - y
    dz <- x * y - beta * z
    checklist(c(dx, dy, dz))

occasions <- seq(0, 500, size.out = 125000)

lorenz_ts <-
    y = initial_state,
    occasions = occasions,
    func = lorenz,
    parms = parameters,
    technique = "lsoda"
  ) %>% as_tibble()

# A tibble: 10 x 4
      time      x     y     z
     <dbl>  <dbl> <dbl> <dbl>
 1 0        -8.61 -14.9  15.5
 2 0.00400  -8.86 -15.2  15.9
 3 0.00800  -9.12 -15.6  16.3
 4 0.0120   -9.38 -16.0  16.7
 5 0.0160   -9.64 -16.3  17.1
 6 0.0200   -9.91 -16.7  17.6
 7 0.0240  -10.2  -17.0  18.1
 8 0.0280  -10.5  -17.3  18.6
 9 0.0320  -10.7  -17.7  19.1
10 0.0360  -11.0  -18.0  19.7

We’ve already seen the attractor, or somewhat, its three two-dimensional projections, in determine 6 above. However now our situation is totally different. We solely have entry to (x), a univariate time collection. Because the time interval used to numerically combine the differential equations was somewhat tiny, we simply use each tenth commentary.

obs <- lorenz_ts %>%
  choose(time, x) %>%
  filter(row_number() %% 10 == 0)

ggplot(obs, aes(time, x)) +
  geom_line() +
  coord_cartesian(xlim = c(0, 100)) +

Determine 9: Convection charges as a univariate time collection.


The primary half of the collection is used for coaching. The information is scaled and remodeled into the three-dimensional type anticipated by recurrent layers.


# scale observations
obs <- obs %>% mutate(
  x = scale(x)

# generate timesteps
n <- nrow(obs)
n_timesteps <- 10

gen_timesteps <- perform(x, n_timesteps) {,
             perform(i) {
               begin <- i
               finish <- i + n_timesteps - 1
               out <- x[start:end]
  ) %>%

# prepare with begin of time collection, check with finish of time collection 
x_train <- gen_timesteps(as.matrix(obs$x)[1:(n/2)], n_timesteps)
x_test <- gen_timesteps(as.matrix(obs$x)[(n/2):n], n_timesteps) 

# add required dimension for options (we now have one)
dim(x_train) <- c(dim(x_train), 1)
dim(x_test) <- c(dim(x_test), 1)

# some batch dimension (worth not essential)
batch_size <- 100

# remodel to datasets so we will use customized coaching
ds_train <- tensor_slices_dataset(x_train) %>%

ds_test <- tensor_slices_dataset(x_test) %>%


With newer variations of TensorFlow (>= 2.0, actually if >= 2.2), autoencoder-like fashions are greatest coded as customized fashions, and skilled in an “autographed” loop.

The encoder is centered round a single LSTM layer, whose dimension determines the utmost dimensionality of the attractor. The decoder then undoes the compression – once more, primarily utilizing a single LSTM.

# dimension of the latent code
n_latent <- 10L
n_features <- 1

encoder_model <- perform(n_timesteps,
                          title = NULL) {
  keras_model_custom(title = title, perform(self) {
    self$noise <- layer_gaussian_noise(stddev = 0.5)
    self$lstm <-  layer_lstm(
      models = n_latent,
      input_shape = c(n_timesteps, n_features),
      return_sequences = FALSE
    self$batchnorm <- layer_batch_normalization()
    perform (x, masks = NULL) {
      x %>%
        self$noise() %>%
        self$lstm() %>%

decoder_model <- perform(n_timesteps,
                          title = NULL) {
  keras_model_custom(title = title, perform(self) {
    self$repeat_vector <- layer_repeat_vector(n = n_timesteps)
    self$noise <- layer_gaussian_noise(stddev = 0.5)
    self$lstm <- layer_lstm(
        models = n_latent,
        return_sequences = TRUE,
        go_backwards = TRUE
    self$batchnorm <- layer_batch_normalization()
    self$elu <- layer_activation_elu() 
    self$time_distributed <- time_distributed(layer = layer_dense(models = n_features))
    perform (x, masks = NULL) {
      x %>%
        self$repeat_vector() %>%
        self$noise() %>%
        self$lstm() %>%
        self$batchnorm() %>%
        self$elu() %>%

encoder <- encoder_model(n_timesteps, n_features, n_latent)
decoder <- decoder_model(n_timesteps, n_features, n_latent)


As already defined above, the loss perform we prepare with is twofold. On the one hand, we evaluate the unique inputs with the decoder outputs (the reconstruction), utilizing imply squared error:

mse_loss <- tf$keras$losses$MeanSquaredError(
  discount = tf$keras$losses$Discount$SUM)

As well as, we attempt to preserve the variety of false neighbors small, by way of the next regularizer.

loss_false_nn <- perform(x) {
  # unique values utilized in Kennel et al. (1992)
  rtol <- 10 
  atol <- 2
  k_frac <- 0.01
  okay <- max(1, flooring(k_frac * batch_size))
  tri_mask <-
        form = c(n_latent, n_latent),
        dtype = tf$float32
      num_lower = -1L,
      num_upper = 0L
   batch_masked <- tf$multiply(
     tri_mask[, tf$newaxis,], x[tf$newaxis, reticulate::py_ellipsis()]
  x_squared <- tf$reduce_sum(
    batch_masked * batch_masked,
    axis = 2L,
    keepdims = TRUE

  pdist_vector <- x_squared +
    x_squared, perm = c(0L, 2L, 1L)
  ) -
  2 * tf$matmul(
    tf$transpose(batch_masked, perm = c(0L, 2L, 1L))

  all_dists <- pdist_vector
  all_ra <-
    tf$sqrt((1 / (
      batch_size * tf$vary(1, 1 + n_latent, dtype = tf$float32)
    )) *
        batch_masked - tf$reduce_mean(batch_masked, axis = 1L, keepdims = TRUE)
      ), axis = c(1L, 2L)))
  all_dists <- tf$clip_by_value(all_dists, 1e-14, tf$reduce_max(all_dists))

  top_k <- tf$math$top_k(-all_dists, tf$forged(okay + 1, tf$int32))
  top_indices <- top_k[[1]]

  neighbor_dists_d <- tf$collect(all_dists, top_indices, batch_dims = -1L)
  neighbor_new_dists <- tf$collect(
    all_dists[2:-1, , ],
    top_indices[1:-2, , ],
    batch_dims = -1L
  # Eq. 4 of Kennel et al. (1992)
  scaled_dist <- tf$sqrt((
    tf$sq.(neighbor_new_dists) -
      tf$sq.(neighbor_dists_d[1:-2, , ])) /
      tf$sq.(neighbor_dists_d[1:-2, , ])
  # Kennel situation #1
  is_false_change <- (scaled_dist > rtol)
  # Kennel situation #2
  is_large_jump <-
    (neighbor_new_dists > atol * all_ra[1:-2, tf$newaxis, tf$newaxis])
  is_false_neighbor <-
    tf$math$logical_or(is_false_change, is_large_jump)
  total_false_neighbors <-
    tf$forged(is_false_neighbor, tf$int32)[reticulate::py_ellipsis(), 2:(k + 2)]
  reg_weights <- 1 -
    tf$reduce_mean(tf$forged(total_false_neighbors, tf$float32), axis = c(1L, 2L))
  reg_weights <- tf$pad(reg_weights, checklist(checklist(1L, 0L)))
  activations_batch_averaged <-
    tf$sqrt(tf$reduce_mean(tf$sq.(x), axis = 0L))
  loss <- tf$reduce_sum(tf$multiply(reg_weights, activations_batch_averaged))

MSE and FNN are added , with FNN loss weighted in response to the important hyperparameter of this mannequin:

This worth was experimentally chosen because the one greatest conforming to our look-for-the-highest-drop heuristic.

Mannequin coaching

The coaching loop intently follows the aforementioned recipe on methods to prepare with customized fashions and tfautograph.

train_loss <- tf$keras$metrics$Imply(title='train_loss')
train_fnn <- tf$keras$metrics$Imply(title='train_fnn')
train_mse <-  tf$keras$metrics$Imply(title='train_mse')

train_step <- perform(batch) {
  with (tf$GradientTape(persistent = TRUE) %as% tape, {
    code <- encoder(batch)
    reconstructed <- decoder(code)
    l_mse <- mse_loss(batch, reconstructed)
    l_fnn <- loss_false_nn(code)
    loss <- l_mse + fnn_weight * l_fnn
  encoder_gradients <- tape$gradient(loss, encoder$trainable_variables)
  decoder_gradients <- tape$gradient(loss, decoder$trainable_variables)
    purrr::transpose(checklist(encoder_gradients, encoder$trainable_variables))
    purrr::transpose(checklist(decoder_gradients, decoder$trainable_variables))

training_loop <- tf_function(autograph(perform(ds_train) {
  for (batch in ds_train) {
  tf$print("Loss: ", train_loss$consequence())
  tf$print("MSE: ", train_mse$consequence())
  tf$print("FNN loss: ", train_fnn$consequence())

optimizer <- optimizer_adam(lr = 1e-3)

for (epoch in 1:200) {
  cat("Epoch: ", epoch, " -----------n")

After 200 epochs, general loss is at 2.67, with the MSE element at 1.8 and FNN at 0.09.

Acquiring the attractor from the check set

We use the check set to examine the latent code:

# A tibble: 6,242 x 10
      V1    V2         V3        V4        V5         V6        V7        V8       V9       V10
   <dbl> <dbl>      <dbl>     <dbl>     <dbl>      <dbl>     <dbl>     <dbl>    <dbl>     <dbl>
 1 0.439 0.401 -0.000614  -0.0258   -0.00176  -0.0000276  0.000276  0.00677  -0.0239   0.00906 
 2 0.415 0.504  0.0000481 -0.0279   -0.00435  -0.0000970  0.000921  0.00509  -0.0214   0.00921 
 3 0.389 0.619  0.000848  -0.0240   -0.00661  -0.000171   0.00106   0.00454  -0.0150   0.00794 
 4 0.363 0.729  0.00137   -0.0143   -0.00652  -0.000244   0.000523  0.00450  -0.00594  0.00476 
 5 0.335 0.809  0.00128   -0.000450 -0.00338  -0.000307  -0.000561  0.00407   0.00394 -0.000127
 6 0.304 0.828  0.000631   0.0126    0.000889 -0.000351  -0.00167   0.00250   0.0115  -0.00487 
 7 0.274 0.769 -0.000202   0.0195    0.00403  -0.000367  -0.00220  -0.000308  0.0145  -0.00726 
 8 0.246 0.657 -0.000865   0.0196    0.00558  -0.000359  -0.00208  -0.00376   0.0134  -0.00709 
 9 0.224 0.535 -0.00121    0.0162    0.00608  -0.000335  -0.00169  -0.00697   0.0106  -0.00576 
10 0.211 0.434 -0.00129    0.0129    0.00606  -0.000306  -0.00134  -0.00927   0.00820 -0.00447 
# … with 6,232 extra rows

On account of the FNN regularizer, the latent code models needs to be ordered roughly by lowering variance, with a pointy drop showing some place (if the FNN weight has been chosen adequately).

For an fnn_weight of 10, we do see a drop after the primary two models:

predicted %>% summarise_all(var)
# A tibble: 1 x 10
      V1     V2      V3      V4      V5      V6      V7      V8      V9     V10
   <dbl>  <dbl>   <dbl>   <dbl>   <dbl>   <dbl>   <dbl>   <dbl>   <dbl>   <dbl>
1 0.0739 0.0582 1.12e-6 3.13e-4 1.43e-5 1.52e-8 1.35e-6 1.86e-4 1.67e-4 4.39e-5

So the mannequin signifies that the Lorenz attractor could be represented in two dimensions. If we nonetheless need to plot the whole (reconstructed) state area of three dimensions, we should always reorder the remaining variables by magnitude of variance. Right here, this leads to three projections of the set V1, V2 and V4:

Determine 10: Attractors as predicted from the latent code (check set). The three highest-variance variables have been chosen.

Wrapping up (for this time)

At this level, we’ve seen methods to reconstruct the Lorenz attractor from information we didn’t prepare on (the check set), utilizing an autoencoder regularized by a customized false nearest neighbors loss. It is very important stress that at no level was the community offered with the anticipated answer (attractor) – coaching was purely unsupervised.

This can be a fascinating consequence. In fact, considering virtually, the subsequent step is to acquire predictions on heldout information. Given how lengthy this textual content has grow to be already, we reserve that for a follow-up put up. And once more after all, we’re fascinated with different datasets, particularly ones the place the true state area will not be identified beforehand. What about measurement noise? What about datasets that aren’t fully deterministic? There’s a lot to discover, keep tuned – and as at all times, thanks for studying!

Gilpin, William. 2020. “Deep Reconstruction of Unusual Attractors from Time Sequence.”

Kantz, Holger, and Thomas Schreiber. 2004. Nonlinear Time Sequence Evaluation. Cambridge College Press.

Kennel, Matthew B., Reggie Brown, and Henry D. I. Abarbanel. 1992. “Figuring out Embedding Dimension for Part-House Reconstruction Utilizing a Geometrical Building.” Phys. Rev. A 45 (March): 3403–11.
Sauer, Tim, James A. Yorke, and Martin Casdagli. 1991. Embedology.” Journal of Statistical Physics 65 (3-4): 579–616.

Strang, Gilbert. 2019. Linear Algebra and Studying from Information. Wellesley Cambridge Press.

Strogatz, Steven. 2015. Nonlinear Dynamics and Chaos: With Functions to Physics, Biology, Chemistry, and Engineering. Westview Press.


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