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GENERALIZED LIFTING MODULES

YONGDUO WANG AND NANQING DING Received 6 March 2006; Accepted 12 March 2006

We introduce the concepts of lifting modules and (quasi-)discrete modules relative to a given left module. We also introduce the notion of SSRS-modules. It is shown that (1) if Mis an amply supplemented module and 0NNN0 an exact sequence, then MisN-lifting if and only if it isN-lifting andN-lifting; (2) ifMis a Noetherian module, thenMis lifting if and only ifMisR-lifting if and only ifMis an amply supplemented SSRS-module; and (3) letMbe an amply supplemented SSRS-module such that Rad(M) is finitely generated, thenM=KK, whereK is a radical module andK is a lifting module.

Copyright © 2006 Hindawi Publishing Corporation. All rights reserved.

1. Introduction and preliminaries

Extending modules and their generalizations have been studied by many authors (see [2,3,8,7]). The motivation of the present discussion is from [2,8], where the concepts of extending modules and (quasi-)continuous modules with respect to a given module and CESS-modules were studied, respectively. In this paper, we introduce the concepts of lifting modules and (quasi-)discrete modules relative to a given module and SSRS- modules. It is shown that (1) if 0NNN0 is an exact sequence andM an amply supplemented module, thenMisN-lifting if and only if it is bothN-lifting and N-lifting; (2) ifMis a Noetherian module, thenMis lifting if and only ifMisR-lifting if and only ifM is an amply supplemented SSRS-module; and (3) let M be an amply supplemented SSRS-module such that Rad(M) is finitely generated, thenM=KK, whereKis a radical module andKis a lifting module.

Throughout this paper,Ris an associative ring with identity and all modules are unital leftR-modules. We useNMto indicate thatNis a submodule ofM. As usual, Rad(M) and Soc(M) stand for the Jacobson radical and the socle of a moduleM, respectively.

LetMbe a module andSM.Sis called small inM(notationSM) ifM=S+T for any proper submoduleTofM. LetNandLbe submodules ofM,Nis called a supple- ment ofLinMifN+L=M, andNis minimal with respect to this property. Equivalently,

Hindawi Publishing Corporation

International Journal of Mathematics and Mathematical Sciences Volume 2006, Article ID 47390, Pages1–9

DOI10.1155/IJMMS/2006/47390

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M=N+LandNLN.N is called a supplement submodule ifN is a supplement of some submodule ofM.M is called an amply supplemented module if for any two sub- modulesAandB of M withA+B=M,Bcontains a supplement of A.M is called a weakly supplemented module (see [5]) if for each submoduleAofMthere exists a sub- moduleBofM such thatM=A+B andABM. LetBAM. IfA/BM/B, thenBis called a coessential submodule ofAandAis called a coessential extension ofBin M. A submoduleAofM is called coclosed ifAhas no proper coessential submodules in M. Following [5],Bis called ans-closure ofAinMifBis a coessential submodule ofA andBis coclosed inM.

LetMbe a module.Mis called a lifting module (or satisfies (D1)) (see [9]) if for ev- ery submoduleA of M, there exists a direct summand K of M such thatKA and A/KM/K, equivalently,Mis amply supplemented and every supplement submodule ofMis a direct summand.Mis called discrete ifMis lifting and has the following condi- tion.

(D2) IfAM such thatM/Ais isomorphic to a direct summand ofM, thenAis a summand ofM.

Mis called quasidiscrete ifMis lifting and has the following condition:

(D3) For each pair of direct summandsAandBofMwithA+B=M,ABis a direct summand ofM. For more details on these concepts, see [9].

Lemma 1.1 (see [12, 19.3]). LetMbe a module andKLM.

(1)LMif and only ifKMandL/KM/K.

(2) IfMis a module andφ:MMa homomorphism, thenφ(L)Mwhenever LM.

Lemma 1.2 (see Lemma 1.1 in [5]). LetMbe a weakly supplemented module andNM.

Then the following statements are equivalent.

(1)Nis a supplement submodule ofM. (2)Nis coclosed inM.

(3) For allXN,XMimpliesXN.

Lemma 1.3 (see Proposition 1.5 in [5]). LetMbe an amply supplemented module. Then every submodule ofMhas ans-closure.

Lemma 1.4 (see [12, 41.7]). LetMbe an amply supplemented module. Then every coclosed submodule ofMis amply supplemented.

2. Relative lifting modules

To define the concepts of relative lifting and (quasi-)discrete modules, we dualize the concepts of relative extending and (quasi-)continuous modules introduced in [8] in this section. We start with the following.

LetNandMbe modules. We define the family

$(N,M)=

AM| ∃XN,f Hom(X,M), A

f(X) M f(X)

. (2.1)

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Proposition 2.1. $(N,M) is closed under small submodules, isomorphic images, and co- essential extensions.

Proof. We only show that $(N,M) is closed under coessential extensions. LetA$(N,M), AAM, andA/AM/A. There existXNandf Hom(X,M) such thatf(X) A andA/ f(X)M/ f(X) sinceA$(N,M). Note that A/AM/A, so A/ f(X)

M/ f(X) byLemma 1.1(1). ThusA$(N,M).

Lemma 2.2. LetA$(N,M) andAbe coclosed inM. ThenB$(N,M) for any submodule BofA.

Proof. There existXNandfHom(X,M) such thatf(X)AandA/ f(X)M/ f(X) by hypothesis. SinceAis coclosed inM, f(X)=A. LetBbe any submodule ofAand Y= f1(B)XN. Then f|Y:YMis a homomorphism such that f|Y(Y)=Bfor f(X)=A. ClearlyB/ f|Y(Y)M/ f|Y(Y). ThereforeB$(N,M).

Lemma 2.3. LetCABMandAbe a coessential submodule ofB. IfCis ans-closure ofA, then it is also ans-closure ofB.

Proof. It is clear byLemma 1.1(1).

Proposition 2.4. LetMbe an amply supplemented module. Then everyAin $(N,M) has ans-closureAin $(N,M).

Proof. SinceA$(N,M), there existXN and f Hom(X,M) such thatA/ f(X) M/ f(X). Note thatMis amply supplemented, and so f(X) has ans-closureAinMby Lemma 1.3. Thus A is also ans-closure of A byLemma 2.3. The verification forA

$(N,M) is analogous to that forB$(N,M) inLemma 2.2.

LetNbe a module. Consider the following conditions for a moduleM.

($(N,M)-D1) For every submoduleA$(N,M), there exists a direct summandKofM such thatKAandA/KM/K.

($(N,M)-D2) IfA$(N,M) such thatM/Ais isomorphic to a direct summand ofM, thenAis a direct summand ofM.

($(N,M)-D3) IfAandLare direct summands ofM withA$(N,M) andA+L=M, thenALis a direct summand ofM.

Definition 2.5. LetN be a module. A moduleM is said to beN-lifting,N-discrete, or N-quasidiscrete ifM satisfies $(N,M)-D1, $(N,M)-D1 and $(N,M)-D2or $(N,M)-D1

and $(N,M)-D3, respectively.

One easily obtains the hierarchy:MisN-discreteMisN-quasidiscreteMisN- lifting. Clearly, the notion of relative discreteness generalizes the concept of discreteness.

For any moduleN, lifting modules areN-lifting. But the converse is not true as shown in the following examples.

Example 2.6. Since, for any moduleM, $(0,M)= {A|AM}and 0 is a direct sum- mand ofM such thatA/0M/0 for anyA$(0,M), all modules are 0-lifting. How- ever, theZ-moduleZ/2Z×Z/8Zis not lifting since the supplement submodule(1, 2)

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((1, 2)is a supplement of(1, 1)) and is not a direct summand of it though it is amply supplemented.

Example 2.7. LetM be a module with zero socle andSa simple module. ThenMisS- lifting since $(S,M) is a family only containing all small submodules ofM. So all torsion- freeZ-modules areS-lifting for any simpleZ-moduleS(see [12, Exercise 21.17]). In par- ticular, ZZand ZQareS-lifting for any simpleZ-module, but each one is not a lifting module.

Lemma 2.8. LetMbe a module. Then $(M,M)= {A|AM} =

NR- Mod$(N,M), where R-Mod denotes the category of leftR-module.

Proof. It is straight forward.

Proposition 2.9. LetMbe a module. ThenMis lifting or (quasi-)discrete if and only ifM isM-lifting orM-(quasi-)discrete if and only ifMisN-lifting orN-(quasi-)discrete for any moduleN.

Proof. It is clear byLemma 2.8.

Proposition 2.10. LetMbe an amply supplemented module. Then the condition $(N,M)- D1is inherited by coclosed submodules ofM.

Proof. LetMsatisfy $(N,M)-D1andHbe a coclosed submodule ofM.His amply sup- plemented byLemma 1.4. For anyA$(N,H),Ahas ans-closureA$(N,H) inHby Proposition 2.4. SinceA$(N,H)$(N,M) andM satisfies $(N,M)-D1, there is a di- rect summandKofMsuch thatKAandA/KM/K. ByLemma 1.2,A/KH/K.

NowA=KsinceAis coclosed inH. ThusHsatisfies $(N,H)-D1. Corollary 2.11. LetMbe an amply supplemented module. Then the condition $(N,M)- D1is inherited by direct summands ofM.

Proposition 2.12. LetMbe an amply supplemented module. Then $(N,M)-Di(i=2, 3) is inherited by direct summands ofM.

Proof. (1) LetMsatisfy $(N,M)-D2andHbe a direct summand ofM. We will show that Hsatisfies $(N,H)-D2.

LetA$(N,H)$(N,M) andH/Ais isomorphic to a direct summand ofH. Since H is a direct summand ofM, there existsHMsuch thatM=HH. ThusM/A= (HH)/A(H/A)H, and soM/Ais isomorphic to a direct summand ofM.Ais a direct summand ofMsinceMsatisfies $(N,M)-D2, and henceAis a direct summand of H.

(2) LetA$(N,H)$(N,M) andA,Lbe direct summands ofH withA+L=H.

We will show that AL is a direct summand ofH. SinceH is a direct summand of M, there existsHM such thatM=HH. ThusM=(A+L)H=A+ (LH).

NowA(LH) is a direct summand ofM sinceM satisfies $(N,M)-D3. Note that A(LH)=AL, soALis a direct summand ofH.

Theorem 2.13. LetMbe an amply supplemented module andA$(N,M) a direct sum- mand ofM. IfMisN-(quasi-)discrete, thenAis (quasi-)discrete.

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Proof. The proof follows fromLemma 2.2,Corollary 2.11, andProposition 2.12.

Proposition 2.14. Let 0NNN0 be an exact sequence. Then $(N,M)

$(N,M)$(N,M). Therefore, ifM isN-lifting (resp., (quasi-)discrete), thenM isN- lifting andN-lifting (resp., (quasi-)discrete).

Proof. Without loss of generality we can assume thatNN andN=N/N. By def- inition,NNimplies $(N,M)$(N,M). Next, letA2$(N,M). Then there exist XN=N/N and f Hom(X,M) such thatA2/ f(X)M/ f(X). WriteX=Y/N, YN and letδ:Y Y/Nbe the canonical homomorphism. It is clear thatg= f δ Hom(Y,M) andg(Y)=f(X), henceA2/g(Y)M/g(Y). ThusA2$(N,M). Therefore

$(N,M)$(N,M)$(N,M). The rest is obvious.

Dual to [8, Proposition 2.7], we have the following.

Theorem 2.15. Let 0NNN0 be an exact sequence andMan amply supple- mented module. ThenMisN-lifting if and only if it is bothN-lifting andN-lifting.

Proof. LetMbeN-lifting. Then it is bothN-lifting andN-lifting byProposition 2.14.

Conversely suppose thatM is bothN-lifting and N-lifting. For any submoduleA

$(N,M),Ahas ans-closure A$(N,M) byProposition 2.4. SinceA$(N,M), there existXNand f Hom(X,M) such thatA/ f(X)M/ f(X). SinceAis coclosed inM, f(X)=A. WriteY =XNNand f|Y:YM is a homomorphism, then f(Y) f(X)=A. Let f(Y) be ans-closure of f(Y) inA(forAis amply supplemented). Thus we conclude that f(Y)/ f(Y)M/ f(Y) and f(Y)$(N,M). SinceM isN-lifting, there exists a direct summandKofMsuch that f(Y)/KM/K. It is easy to seef(Y) is coclosed inM, hencef(Y)=Kis a direct summand ofM. WriteM=f(Y)K,KM and A=AM= f(Y)(AK). Defineh:W=(X+N)/NM byh(x+N)= π f(x), whereπ:AAKdenotes the canonical projection. It is clear thath(W)= AK, thus (AK)/h(W)M/h(W), and hence (AK)$(N,M). SinceM is N-lifting, there exists a direct summandK of M such that (AK)/KM/K. SinceAKis coclosed in M,AK=K. NowAK is a direct summand ofK. ThusAis a direct summand ofM. It follows thatMisN-lifting.

Corollary 2.16. Let M be an amply supplemented module. If M is Ni-lifting for i= 1, 2,...,nandN=n

iNi, thenMisN-lifting.

Corollary 2.17. LetMbe an amply supplemented module. ThenMis lifting if and only ifMisN-lifting andM/N-lifting for every submoduleNofMif and only ifMisN-lifting andM/N-lifting for some submoduleNofM.

Recall that a moduleM is said to be distributive ifN(K+L)=(NK) + (NL) for all submodulesN,K,LofM. A moduleMhas SSP (see [4]) if the sum of any pair of direct summands ofMis a direct summand ofM.

Corollary 2.18. Let 0NNN0 be an exact sequence and letM be a dis- tributive and amply supplemented module with SSP. IfMis bothN-quasidiscrete andN- quasidiscrete, thenMisN-quasidiscrete.

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Proof. We only need to show thatMsatisfies $(N,M)-D3whenMsatisfies $(N,M)-D3

and $(N,M)-D3byTheorem 2.15. LetA$(N,M) andA,Hbe direct summands ofM withA+H=M. We know thatA=A1A2, whereA1$(N,M),A2$(N,M) from the proof ofTheorem 2.15. SinceMis a distributive module with SSP,A1HandA2H are direct summands ofM. This implies thatAH is a direct summand ofM. ThusM

satisfies $(N,M)-D3.

3. SSRS-modules

In [2], a module is called a CESS-module if every complement with essential socle is a direct summand. As a dual of CESS-modules, the concept of SSRS-modules is given in this section. It is proven that: (1) letM be an amply supplemented SSRS-module such that Rad(M) is finitely generated, thenM=KK, whereKis a radical module andK is a lifting module; (2) letMbe a finitely generated amply supplemented module, thenM is an SSRS-module if and only ifM/Kis a lifting module for every coclosed submodule KofM.

Definition 3.1. A module is called an SSRS-module if every supplement with small radical is a direct summand.

Lifting modules are SSRS-modules, but the converse is not true. For example,ZZis an SSRS-module which is not a lifting module.

Proposition 3.2. LetMbe an SSRS-module. Then any direct summand ofMis an SSRS- module.

Proof. LetKbe a direct summand ofM andNa supplement submodule ofK such that Rad(N)N. Let N be a supplement of Lin K, that is, N+L=K and NLN.

Since K is a direct summand ofM, there existsKM such thatM=KK. Note thatM=N+ (LK) andN(LK)=NLN. ThereforeN is a supplement of LKinM. ThusNis a direct summand ofMsinceM is an SSRS-module. SoNis a

direct summand ofK. The proof is complete.

Proposition 3.3. LetM be a weakly supplemented SSRS-module andK a coclosed sub- module ofM. ThenKis an SSRS-module.

Proof. It follows from the assumption and [4, Lemma 2.6(3)].

Proposition 3.4. LetMbe an amply supplemented module. ThenMis an SSRS-module if and only if for every submoduleNwith small radical, there exists a direct summandKofM such thatKNandN/KM/K.

Proof. “.” LetNbe a supplement submodule with small radical. By assumption, there exists a direct summandKofMsuch thatKN andN/KM/K. SinceNis coclosed inM,N=K. ThusNis a direct summand ofM.

.” Let NM with Rad(N)N. There exists an s-closure N of N sinceM is amply supplemented. Since Rad(N)M (for Rad(N)N) and Rad(N)Rad(N),

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Rad(N)NandNis a supplement submodule byLemma 1.2. ThereforeNis a direct

summand ofMby assumption. This completes the proof.

Corollary 3.5. LetM be an amply supplemented SSRS-module. Then every simple sub- module ofMis either a direct summand or a small submodule ofM.

Proposition 3.6. LetMbe an amply supplemented module. ThenMis an SSRS-module if and only if for every submoduleNofM, everys-closure ofNwith small radical is a lifting module and a direct summand ofM.

Proof. It is straight forward.

Proposition 3.7. Let M be an amply supplemented SSRS-module. ThenM=KK, whereKis semisimple andKhas small socle.

Proof. For Soc(M), there exists a direct summandK ofMsuch that Soc(M)/KM/K byProposition 3.4. It is easy to see thatKis semisimple. SinceKis a direct summand of M, there existsKMsuch thatM=KK. Note that Soc(M)=Soc(K)Soc(K). So Soc(M)/K=(KSoc(K))/KM/K=(KK)/K. Thus Soc(K)K. Recall that a moduleMis called a radical module if Rad(M)=M. Dual to [2, Theorem 2.6], we have the following.

Theorem 3.8. LetMbe an amply supplemented SSRS-module such that Rad(M) is finitely generated. ThenM=KK, whereKis a radical module andKis a lifting module.

Proof. Rad(Rad(M))Rad(M) since Rad(M) is finitely generated. There exists a di- rect summandK of M such that Rad(M)/K M/K byProposition 3.4. SinceK is a direct summand ofM, there existsKMsuch thatM=KK. Note that Rad(M)= Rad(K)Rad(K). ThereforeK=KRad(M)=Rad(K) and Rad(M)/K =(Rad(K) Rad(K))/KM/K=(KK)/K. Thus Rad(K)=Kand Rad(K)K.

Next, we show thatKis a lifting module.Kis amply supplemented since it is a direct summand ofM. So we only prove that every supplement submodule ofKis a direct summand ofK. LetNbe a supplement submodule ofK. ByLemma 1.2and Rad(K) K, we know that Rad(N)N.Nis a direct summand ofKsinceKis an SSRS-module

byProposition 3.2. The proof is complete.

Corollary 3.9. LetMbe an amply supplemented module with small radical. ThenM is an SSRS-module if and only ifMis a lifting module.

Theorem 3.10. LetM be a finitely generated amply supplemented module. Then the fol- lowing statements are equivalent.

(1)Mis an SSRS-module.

(2)Mis a lifting module.

(3)M/Kis a lifting module for every coclosed submoduleKofM.

Proof. (1)(2) follows fromCorollary 3.9.

(3)(1) is clear.

(1)(3) we only prove that any supplement submodule ofM/Kis a direct summand.

LetA/Kbe a supplement submodule ofM/K.Ais coclosed inMsinceA/Kis coclosed in

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M/KandKis coclosed inM. Rad(A)AsinceMis finitely generated andAis coclosed inM.A is a direct summand ofM by assumption. ThusA/K is a direct summand of

M/K.

Lemma 3.11. LetMbe a module. Then the following statements are equivalent.

(1) For every cyclic submoduleNofM, there exists a direct summandKofMsuch that KNandN/KM/K.

(2) For every finitely generated submoduleNofM, there exists a direct summandKof Msuch thatKNandN/KM/K.

Proof. See [12, 41.13].

Corollary 3.12. LetMbe a Noetherian module. Then the following statements are equiv- alent.

(1)MisR-lifting.

(2)MisF-lifting, for any free moduleF.

(3)Mis lifting.

(4)Mis an amply supplemented SSRS-module.

Proof. It is easy to see that $(R,M) and $(F,M) are closed under cyclic submodules. The rest follows immediately fromTheorem 3.10andLemma 3.11.

Corollary 3.13. LetRbe a left perfect (semiperfect) ring. Then every SSRS-module (finitely generated SSRS-module) is a lifting module.

Proof. It follows from the fact that every module over a left perfect ring has small radical,

[11, Theorems 1.6 and 1.7] andCorollary 3.9.

A moduleMis uniserial (see [6]) if its submodules are linearly ordered by inclusion and it is serial if it is a direct sum of uniserial submodules. A ringRis right (left) serial if the right (left)R-moduleRR(RR) is serial and it is serial if it is both right and left serial.

Corollary 3.14. The following statements are equivalent for a ringRwith radicalJ.

(1)Ris an artinian serial ring andJ2=0.

(2)Ris a left semiperfct ring and every finitely generated module is an SSRS-module.

(3)Ris a left perfect ring and every module is an SSRS-module.

Proof. It holds by [6, Theorem 3.15], [10, Theorem 1 and Proposition 2.13], andCorol-

lary 3.13.

References

[1] F. W. Anderson and K. R. Fuller, Rings and Categories of Modules, Springer, New York, 1974.

[2] C. C¸elik, A. Harmancı, and P. F. Smith, A generalization of CS-modules, Communications in Algebra 23 (1995), no. 14, 5445–5460.

[3] N. V. Dung, D. V. Huynh, P. F. Smith, and R. Wisbauer, Extending Modules, Pitman Research Notes in Mathematics Series, vol. 313, Longman Scientific & Technical, Harlow, 1994.

[4] L. Ganesan and N. Vanaja, Modules for which every submodule has a unique coclosure, Commu- nications in Algebra 30 (2002), no. 5, 2355–2377.

[5] D. Keskin, On lifting modules, Communications in Algebra 28 (2000), no. 7, 3427–3440.

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[6] D. Keskin, P. F. Smith, and W. M. Xue, Rings whose modules are-supplemented, Journal of Algebra 218 (1999), no. 2, 470–487.

[7] Z. K. Liu, OnX-extending andX-continuous modules, Communications in Algebra 29 (2001), no. 6, 2407–2418.

[8] S. R. L ´opez-Permouth, K. Oshiro, and S. T. Rizvi, On the relative (quasi-)continuity of modules, Communications in Algebra 26 (1998), no. 11, 3497–3510.

[9] S. H. Mohamed and B. J. M¨uller, Continuous and Discrete Modules, London Mathematical Soci- ety Lecture Note Series, vol. 147, Cambridge University Press, Cambridge, 1990.

[10] N. Vanaja and V. M. Purav, Characterisations of generalised uniserial rings in terms of factor rings, Communications in Algebra 20 (1992), no. 8, 2253–2270.

[11] K. Varadarajan, Modules with supplements, Pacific Journal of Mathematics 82 (1979), no. 2, 559–

564.

[12] R. Wisbauer, Foundations of Module and Ring Theory, Algebra, Logic and Applications, vol. 3, Gordon and Breach, Pennsylvania, 1991.

Yongduo Wang: Department of Applied Mathematics, Lanzhou University of Technology, Lanzhou 730050, China

E-mail address:[email protected]

Nanqing Ding: Department of Mathematics, Nanjing University, Nanjing 210093, China E-mail address:[email protected]

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Special Issue on

Modeling Experimental Nonlinear Dynamics and Chaotic Scenarios

Call for Papers

Thinking about nonlinearity in engineering areas, up to the 70s, was focused on intentionally built nonlinear parts in order to improve the operational characteristics of a device or system. Keying, saturation, hysteretic phenomena, and dead zones were added to existing devices increasing their behavior diversity and precision. In this context, an intrinsic nonlinearity was treated just as a linear approximation, around equilibrium points.

Inspired on the rediscovering of the richness of nonlinear and chaotic phenomena, engineers started using analytical tools from “Qualitative Theory of Differential Equations,”

allowing more precise analysis and synthesis, in order to produce new vital products and services. Bifurcation theory, dynamical systems and chaos started to be part of the mandatory set of tools for design engineers.

This proposed special edition of the Mathematical Prob- lems in Engineering aims to provide a picture of the impor- tance of the bifurcation theory, relating it with nonlinear and chaotic dynamics for natural and engineered systems.

Ideas of how this dynamics can be captured through precisely tailored real and numerical experiments and understanding by the combination of specific tools that associate dynamical system theory and geometric tools in a very clever, sophis- ticated, and at the same time simple and unique analytical environment are the subject of this issue, allowing new methods to design high-precision devices and equipment.

Authors should follow the Mathematical Problems in Engineering manuscript format described at http://www .hindawi.com/journals/mpe/. Prospective authors should submit an electronic copy of their complete manuscript through the journal Manuscript Tracking System athttp://

mts.hindawi.com/according to the following timetable:

Manuscript Due December 1, 2008 First Round of Reviews March 1, 2009 Publication Date June 1, 2009

Guest Editors

José Roberto Castilho Piqueira,Telecommunication and Control Engineering Department, Polytechnic School, The University of São Paulo, 05508-970 São Paulo, Brazil;

[email protected]

Elbert E. Neher Macau,Laboratório Associado de Matemática Aplicada e Computação (LAC), Instituto Nacional de Pesquisas Espaciais (INPE), São Josè dos Campos, 12227-010 São Paulo, Brazil ; [email protected] Celso Grebogi,Center for Applied Dynamics Research, King’s College, University of Aberdeen, Aberdeen AB24 3UE, UK; [email protected]

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