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-Genetic Optimizer
-
-$Log: geqo.sgml,v $
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-Clean up to ensure tag completion as required by the newest versions
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-From Vince Vielhaber <vev@michvhf.com>.
-
-Revision 1.4 1998/08/15 06:55:05 thomas
-Change Id field in chapter tag to change html output file name.
-
--->
-
-<Chapter Id="geqo">
-<DocInfo>
-<Author>
-<FirstName>Martin</FirstName>
-<SurName>Utesch</SurName>
-<Affiliation>
-<Orgname>
-University of Mining and Technology
-</Orgname>
-<Orgdiv>
-Institute of Automatic Control
-</Orgdiv>
-<Address>
-<City>
-Freiberg
-</City>
-<Country>
-Germany
-</Country>
-</Address>
-</Affiliation>
-</Author>
-<Date>1997-10-02</Date>
-</DocInfo>
-
-<Title>Genetic Query Optimization in Database Systems</Title>
-
-<Para>
-<Note>
-<Title>Author</Title>
-<Para>
-Written by <ULink url="utesch@aut.tu-freiberg.de">Martin Utesch</ULink>
-for the Institute of Automatic Control at the University of Mining and Technology in Freiberg, Germany.
-</Para>
-</Note>
-</para>
-
-<Sect1>
-<Title>Query Handling as a Complex Optimization Problem</Title>
-
-<Para>
- Among all relational operators the most difficult one to process and
-optimize is the <FirstTerm>join</FirstTerm>. The number of alternative plans to answer a query
-grows exponentially with the number of <Command>join</Command>s included in it. Further
-optimization effort is caused by the support of a variety of <FirstTerm>join methods</FirstTerm>
- (e.g., nested loop, index scan, merge join in <ProductName>Postgres</ProductName>) to
-process individual <Command>join</Command>s and a diversity of <FirstTerm>indices</FirstTerm> (e.g., r-tree,
-b-tree, hash in <ProductName>Postgres</ProductName>) as access paths for relations.
-</para>
-
-<Para>
- The current <ProductName>Postgres</ProductName> optimizer implementation performs a <FirstTerm>near-
-exhaustive search</FirstTerm> over the space of alternative strategies. This query
-optimization technique is inadequate to support database application
-domains that involve the need for extensive queries, such as artificial
-intelligence.
-</para>
-
-<Para>
- The Institute of Automatic Control at the University of Mining and
-Technology, in Freiberg, Germany, encountered the described problems as its
-folks wanted to take the <ProductName>Postgres</ProductName> DBMS as the backend for a decision
-support knowledge based system for the maintenance of an electrical
-power grid. The DBMS needed to handle large <Command>join</Command> queries for the
-inference machine of the knowledge based system.
-</para>
-
-<Para>
- Performance difficulties within exploring the space of possible query
-plans arose the demand for a new optimization technique being developed.
-</para>
-
-<Para>
- In the following we propose the implementation of a <FirstTerm>Genetic Algorithm</FirstTerm>
- as an option for the database query optimization problem.
-</para>
-</sect1>
-
-<Sect1>
-<Title>Genetic Algorithms (<Acronym>GA</Acronym>)</Title>
-
-<Para>
- The <Acronym>GA</Acronym> is a heuristic optimization method which operates through
-determined, randomized search. The set of possible solutions for the
-optimization problem is considered as a <FirstTerm>population</FirstTerm> of <FirstTerm>individuals</FirstTerm>.
-The degree of adaption of an individual to its environment is specified
-by its <FirstTerm>fitness</FirstTerm>.
-</para>
-
-<Para>
- The coordinates of an individual in the search space are represented
-by <FirstTerm>chromosomes</FirstTerm>, in essence a set of character strings. A <FirstTerm>gene</FirstTerm> is a
-subsection of a chromosome which encodes the value of a single parameter
-being optimized. Typical encodings for a gene could be <FirstTerm>binary</FirstTerm> or
-<FirstTerm>integer</FirstTerm>.
-</para>
-
-<Para>
- Through simulation of the evolutionary operations <FirstTerm>recombination</FirstTerm>,
-<FirstTerm>mutation</FirstTerm>, and <FirstTerm>selection</FirstTerm> new generations of search points are found
-that show a higher average fitness than their ancestors.
-</para>
-
-<Para>
- According to the "comp.ai.genetic" <Acronym>FAQ</Acronym> it cannot be stressed too
-strongly that a <Acronym>GA</Acronym> is not a pure random search for a solution to a
-problem. A <Acronym>GA</Acronym> uses stochastic processes, but the result is distinctly
-non-random (better than random).
-
-<ProgramListing>
-Structured Diagram of a <Acronym>GA</Acronym>:
----------------------------
-
-P(t) generation of ancestors at a time t
-P''(t) generation of descendants at a time t
-
+<!-- doc/src/sgml/geqo.sgml -->
+
+ <chapter id="geqo">
+ <title>Genetic Query Optimizer</title>
+
+ <para>
+ <note>
+ <title>Author</title>
+ <para>
+ Written by Martin Utesch (<email>utesch@aut.tu-freiberg.de</email>)
+ for the Institute of Automatic Control at the University of Mining and Technology in Freiberg, Germany.
+ </para>
+ </note>
+ </para>
+
+ <sect1 id="geqo-intro">
+ <title>Query Handling as a Complex Optimization Problem</title>
+
+ <para>
+ Among all relational operators the most difficult one to process
+ and optimize is the <firstterm>join</firstterm>. The number of
+ possible query plans grows exponentially with the
+ number of joins in the query. Further optimization effort is
+ caused by the support of a variety of <firstterm>join
+ methods</firstterm> (e.g., nested loop, hash join, merge join in
+ <productname>PostgreSQL</productname>) to process individual joins
+ and a diversity of <firstterm>indexes</firstterm> (e.g.,
+ B-tree, hash, GiST and GIN in <productname>PostgreSQL</productname>) as
+ access paths for relations.
+ </para>
+
+ <para>
+ The normal <productname>PostgreSQL</productname> query optimizer
+ performs a <firstterm>near-exhaustive search</firstterm> over the
+ space of alternative strategies. This algorithm, first introduced
+ in IBM's System R database, produces a near-optimal join order,
+ but can take an enormous amount of time and memory space when the
+ number of joins in the query grows large. This makes the ordinary
+ <productname>PostgreSQL</productname> query optimizer
+ inappropriate for queries that join a large number of tables.
+ </para>
+
+ <para>
+ The Institute of Automatic Control at the University of Mining and
+ Technology, in Freiberg, Germany, encountered some problems when
+ it wanted to use <productname>PostgreSQL</productname> as the
+ backend for a decision support knowledge based system for the
+ maintenance of an electrical power grid. The DBMS needed to handle
+ large join queries for the inference machine of the knowledge
+ based system. The number of joins in these queries made using the
+ normal query optimizer infeasible.
+ </para>
+
+ <para>
+ In the following we describe the implementation of a
+ <firstterm>genetic algorithm</firstterm> to solve the join
+ ordering problem in a manner that is efficient for queries
+ involving large numbers of joins.
+ </para>
+ </sect1>
+
+ <sect1 id="geqo-intro2">
+ <title>Genetic Algorithms</title>
+
+ <para>
+ The genetic algorithm (<acronym>GA</acronym>) is a heuristic optimization method which
+ operates through randomized search. The set of possible solutions for the
+ optimization problem is considered as a
+ <firstterm>population</firstterm> of <firstterm>individuals</firstterm>.
+ The degree of adaptation of an individual to its environment is specified
+ by its <firstterm>fitness</firstterm>.
+ </para>
+
+ <para>
+ The coordinates of an individual in the search space are represented
+ by <firstterm>chromosomes</firstterm>, in essence a set of character
+ strings. A <firstterm>gene</firstterm> is a
+ subsection of a chromosome which encodes the value of a single parameter
+ being optimized. Typical encodings for a gene could be <firstterm>binary</firstterm> or
+ <firstterm>integer</firstterm>.
+ </para>
+
+ <para>
+ Through simulation of the evolutionary operations <firstterm>recombination</firstterm>,
+ <firstterm>mutation</firstterm>, and
+ <firstterm>selection</firstterm> new generations of search points are found
+ that show a higher average fitness than their ancestors.
+ </para>
+
+ <para>
+ According to the <systemitem class="resource">comp.ai.genetic</> <acronym>FAQ</acronym> it cannot be stressed too
+ strongly that a <acronym>GA</acronym> is not a pure random search for a solution to a
+ problem. A <acronym>GA</acronym> uses stochastic processes, but the result is distinctly
+ non-random (better than random).
+ </para>
+
+ <figure id="geqo-diagram">
+ <title>Structured Diagram of a Genetic Algorithm</title>
+
+ <informaltable frame="none">
+ <tgroup cols="2">
+ <tbody>
+ <row>
+ <entry>P(t)</entry>
+ <entry>generation of ancestors at a time t</entry>
+ </row>
+
+ <row>
+ <entry>P''(t)</entry>
+ <entry>generation of descendants at a time t</entry>
+ </row>
+ </tbody>
+ </tgroup>
+ </informaltable>
+
+<literallayout class="monospaced">
+=========================================+
-|>>>>>>>>>>> Algorithm GA <<<<<<<<<<<<<<|
+|>>>>>>>>>>> Algorithm GA <<<<<<<<<<<<<<|
+=========================================+
| INITIALIZE t := 0 |
+=========================================+
| INITIALIZE P(t) |
+=========================================+
-| evalute FITNESS of P(t) |
+| evaluate FITNESS of P(t) |
+=========================================+
| while not STOPPING CRITERION do |
| +-------------------------------------+
| +-------------------------------------+
| | P(t+1) := SELECTION{P''(t) + P(t)} |
| +-------------------------------------+
-| | evalute FITNESS of P''(t) |
+| | evaluate FITNESS of P''(t) |
| +-------------------------------------+
| | t := t + 1 |
+===+=====================================+
-</ProgramListing>
-</para>
-</sect1>
-
-<Sect1>
-<Title>Genetic Query Optimization (<Acronym>GEQO</Acronym>) in Postgres</Title>
-
-<Para>
- The <Acronym>GEQO</Acronym> module is intended for the solution of the query
-optimization problem similar to a traveling salesman problem (<Acronym>TSP</Acronym>).
-Possible query plans are encoded as integer strings. Each string
-represents the <Command>join</Command> order from one relation of the query to the next.
-E. g., the query tree
-<ProgramListing>
- /\
- /\ 2
- /\ 3
- 4 1
-</ProgramListing>
-is encoded by the integer string '4-1-3-2',
-which means, first join relation '4' and '1', then '3', and
-then '2', where 1, 2, 3, 4 are relids in <ProductName>Postgres</ProductName>.
-</para>
-
-<Para>
- Parts of the <Acronym>GEQO</Acronym> module are adapted from D. Whitley's Genitor
-algorithm.
-</para>
-
-<Para>
- Specific characteristics of the <Acronym>GEQO</Acronym> implementation in <ProductName>Postgres</ProductName>
-are:
-
-<ItemizedList Mark="bullet" Spacing="compact">
-<ListItem>
-<Para>
-Usage of a <FirstTerm>steady state</FirstTerm> <Acronym>GA</Acronym> (replacement of the least fit
- individuals in a population, not whole-generational replacement)
- allows fast convergence towards improved query plans. This is
- essential for query handling with reasonable time;
-</Para>
-</ListItem>
-
-<ListItem>
-<Para>
-Usage of <FirstTerm>edge recombination crossover</FirstTerm> which is especially suited
- to keep edge losses low for the solution of the <Acronym>TSP</Acronym> by means of a <Acronym>GA</Acronym>;
-</Para>
-</ListItem>
-
-<ListItem>
-<Para>
-Mutation as genetic operator is deprecated so that no repair
- mechanisms are needed to generate legal <Acronym>TSP</Acronym> tours.
-</Para>
-</ListItem>
-</ItemizedList>
-</para>
-
-<Para>
- The <Acronym>GEQO</Acronym> module gives the following benefits to the <ProductName>Postgres</ProductName> DBMS
-compared to the <ProductName>Postgres</ProductName> query optimizer implementation:
-
-<ItemizedList Mark="bullet" Spacing="compact">
-<ListItem>
-<Para>
-Handling of large <Command>join</Command> queries through non-exhaustive search;
-</Para>
-</ListItem>
-
-<ListItem>
-<Para>
-Improved cost size approximation of query plans since no longer
- plan merging is needed (the <Acronym>GEQO</Acronym> module evaluates the cost for a
- query plan as an individual).
-</Para>
-</ListItem>
-</ItemizedList>
-</para>
-
-</Sect1>
-
-<Sect1>
-<Title>Future Implementation Tasks for <ProductName>Postgres</ProductName> <Acronym>GEQO</Acronym></Title>
-
-<Sect2>
-<Title>Basic Improvements</Title>
-
-<Sect3>
-<Title>Improve freeing of memory when query is already processed</Title>
-
-<Para>
-With large <Command>join</Command> queries the computing time spent for the genetic query
-optimization seems to be a mere <Emphasis>fraction</Emphasis> of the time
- <ProductName>Postgres</ProductName>
-needs for freeing memory via routine <Function>MemoryContextFree</Function>,
-file <FileName>backend/utils/mmgr/mcxt.c</FileName>.
-Debugging showed that it get stucked in a loop of routine
-<Function>OrderedElemPop</Function>, file <FileName>backend/utils/mmgr/oset.c</FileName>.
-The same problems arise with long queries when using the normal
-<ProductName>Postgres</ProductName> query optimization algorithm.
-</para>
-</sect3>
-
-<Sect3>
-<Title>Improve genetic algorithm parameter settings</Title>
-
-<Para>
-In file <FileName>backend/optimizer/geqo/geqo_params.c</FileName>, routines
-<Function>gimme_pool_size</Function> and <Function>gimme_number_generations</Function>,
-we have to find a compromise for the parameter settings
-to satisfy two competing demands:
-<ItemizedList Spacing="compact">
-<ListItem>
-<Para>
-Optimality of the query plan
-</Para>
-</ListItem>
-<ListItem>
-<Para>
-Computing time
-</Para>
-</ListItem>
-</ItemizedList>
-</para>
-</sect3>
-
-<Sect3>
-<Title>Find better solution for integer overflow</Title>
-
-<Para>
-In file <FileName>backend/optimizer/geqo/geqo_eval.c</FileName>, routine
-<Function>geqo_joinrel_size</Function>,
-the present hack for MAXINT overflow is to set the <ProductName>Postgres</ProductName> integer
-value of <StructField>rel->size</StructField> to its logarithm.
-Modifications of <StructName>Rel</StructName> in <FileName>backend/nodes/relation.h</FileName> will
-surely have severe impacts on the whole <ProductName>Postgres</ProductName> implementation.
-</para>
-</sect3>
-
-<Sect3>
-<Title>Find solution for exhausted memory</Title>
-
-<Para>
-Memory exhaustion may occur with more than 10 relations involved in a query.
-In file <FileName>backend/optimizer/geqo/geqo_eval.c</FileName>, routine
-<Function>gimme_tree</Function> is recursively called.
-Maybe I forgot something to be freed correctly, but I dunno what.
-Of course the <StructName>rel</StructName> data structure of the <Command>join</Command> keeps growing and
-growing the more relations are packed into it.
-Suggestions are welcome :-(
-</para>
-</sect3>
-</sect2>
-
-<Sect2>
-<Title>Further Improvements</Title>
-
-<Para>
-Enable bushy query tree processing within <ProductName>Postgres</ProductName>;
-that may improve the quality of query plans.
-</para>
-
-<BIBLIOGRAPHY Id="geqo-biblio">
-<TITLE>
-References
-</TITLE>
-<PARA>Reference information for <Acronym>GEQ</Acronym> algorithms.
-</PARA>
-<BIBLIOENTRY>
-
-<BOOKBIBLIO>
-<TITLE>
-The Hitch-Hiker's Guide to Evolutionary Computation
-</TITLE>
-<AUTHORGROUP>
-<AUTHOR>
-<FIRSTNAME>Jörg</FIRSTNAME>
-<SURNAME>Heitkötter</SURNAME>
-</AUTHOR>
-<AUTHOR>
-<FIRSTNAME>David</FIRSTNAME>
-<SURNAME>Beasley</SURNAME>
-</AUTHOR>
-</AUTHORGROUP>
-<PUBLISHER>
-<PUBLISHERNAME>
-InterNet resource
-</PUBLISHERNAME>
-</PUBLISHER>
-<ABSTRACT>
-<Para>
-FAQ in <ULink url="news://comp.ai.genetic">comp.ai.genetic</ULink>
-is available at <ULink url="ftp://ftp.Germany.EU.net/pub/research/softcomp/EC/Welcome.html">Encore</ULink>.
-</Para>
-</ABSTRACT>
-</BOOKBIBLIO>
-
-<BOOKBIBLIO>
-<TITLE>
-The Design and Implementation of the Postgres Query Optimizer
-</TITLE>
-<AUTHORGROUP>
-<AUTHOR>
-<FIRSTNAME>Z.</FIRSTNAME>
-<SURNAME>Fong</SURNAME>
-</AUTHOR>
-</AUTHORGROUP>
-<PUBLISHER>
-<PUBLISHERNAME>
-University of California, Berkeley Computer Science Department
-</PUBLISHERNAME>
-</PUBLISHER>
-<ABSTRACT>
-<Para>
-File <FileName>planner/Report.ps</FileName> in the 'postgres-papers' distribution.
-</Para>
-</ABSTRACT>
-</BOOKBIBLIO>
-
-<BOOKBIBLIO>
-<TITLE>
-Fundamentals of Database Systems
-</TITLE>
-<AUTHORGROUP>
-<AUTHOR>
-<FIRSTNAME>R.</FIRSTNAME>
-<SURNAME>Elmasri</SURNAME>
-</AUTHOR>
-<AUTHOR>
-<FIRSTNAME>S.</FIRSTNAME>
-<SURNAME>Navathe</SURNAME>
-</AUTHOR>
-</AUTHORGROUP>
-<PUBLISHER>
-<PUBLISHERNAME>
-The Benjamin/Cummings Pub., Inc.
-</PUBLISHERNAME>
-</PUBLISHER>
-</BOOKBIBLIO>
-
-</BIBLIOENTRY>
-</BIBLIOGRAPHY>
-
-</sect2>
-</sect1>
-</Chapter>
+</literallayout>
+ </figure>
+ </sect1>
+
+ <sect1 id="geqo-pg-intro">
+ <title>Genetic Query Optimization (<acronym>GEQO</acronym>) in PostgreSQL</title>
+
+ <para>
+ The <acronym>GEQO</acronym> module approaches the query
+ optimization problem as though it were the well-known traveling salesman
+ problem (<acronym>TSP</acronym>).
+ Possible query plans are encoded as integer strings. Each string
+ represents the join order from one relation of the query to the next.
+ For example, the join tree
+<literallayout class="monospaced">
+ /\
+ /\ 2
+ /\ 3
+4 1
+</literallayout>
+ is encoded by the integer string '4-1-3-2',
+ which means, first join relation '4' and '1', then '3', and
+ then '2', where 1, 2, 3, 4 are relation IDs within the
+ <productname>PostgreSQL</productname> optimizer.
+ </para>
+
+ <para>
+ Specific characteristics of the <acronym>GEQO</acronym>
+ implementation in <productname>PostgreSQL</productname>
+ are:
+
+ <itemizedlist spacing="compact" mark="bullet">
+ <listitem>
+ <para>
+ Usage of a <firstterm>steady state</firstterm> <acronym>GA</acronym> (replacement of the least fit
+ individuals in a population, not whole-generational replacement)
+ allows fast convergence towards improved query plans. This is
+ essential for query handling with reasonable time;
+ </para>
+ </listitem>
+
+ <listitem>
+ <para>
+ Usage of <firstterm>edge recombination crossover</firstterm>
+ which is especially suited to keep edge losses low for the
+ solution of the <acronym>TSP</acronym> by means of a
+ <acronym>GA</acronym>;
+ </para>
+ </listitem>
+
+ <listitem>
+ <para>
+ Mutation as genetic operator is deprecated so that no repair
+ mechanisms are needed to generate legal <acronym>TSP</acronym> tours.
+ </para>
+ </listitem>
+ </itemizedlist>
+ </para>
+
+ <para>
+ Parts of the <acronym>GEQO</acronym> module are adapted from D. Whitley's
+ Genitor algorithm.
+ </para>
+
+ <para>
+ The <acronym>GEQO</acronym> module allows
+ the <productname>PostgreSQL</productname> query optimizer to
+ support large join queries effectively through
+ non-exhaustive search.
+ </para>
+
+ <sect2>
+ <title>Generating Possible Plans with <acronym>GEQO</acronym></title>
+
+ <para>
+ The <acronym>GEQO</acronym> planning process uses the standard planner
+ code to generate plans for scans of individual relations. Then join
+ plans are developed using the genetic approach. As shown above, each
+ candidate join plan is represented by a sequence in which to join
+ the base relations. In the initial stage, the <acronym>GEQO</acronym>
+ code simply generates some possible join sequences at random. For each
+ join sequence considered, the standard planner code is invoked to
+ estimate the cost of performing the query using that join sequence.
+ (For each step of the join sequence, all three possible join strategies
+ are considered; and all the initially-determined relation scan plans
+ are available. The estimated cost is the cheapest of these
+ possibilities.) Join sequences with lower estimated cost are considered
+ <quote>more fit</> than those with higher cost. The genetic algorithm
+ discards the least fit candidates. Then new candidates are generated
+ by combining genes of more-fit candidates — that is, by using
+ randomly-chosen portions of known low-cost join sequences to create
+ new sequences for consideration. This process is repeated until a
+ preset number of join sequences have been considered; then the best
+ one found at any time during the search is used to generate the finished
+ plan.
+ </para>
+
+ <para>
+ This process is inherently nondeterministic, because of the randomized
+ choices made during both the initial population selection and subsequent
+ <quote>mutation</> of the best candidates. To avoid surprising changes
+ of the selected plan, each run of the GEQO algorithm restarts its
+ random number generator with the current <xref linkend="guc-geqo-seed">
+ parameter setting. As long as <varname>geqo_seed</> and the other
+ GEQO parameters are kept fixed, the same plan will be generated for a
+ given query (and other planner inputs such as statistics). To experiment
+ with different search paths, try changing <varname>geqo_seed</>.
+ </para>
+
+ </sect2>
+
+ <sect2 id="geqo-future">
+ <title>Future Implementation Tasks for
+ <productname>PostgreSQL</> <acronym>GEQO</acronym></title>
+
+ <para>
+ Work is still needed to improve the genetic algorithm parameter
+ settings.
+ In file <filename>src/backend/optimizer/geqo/geqo_main.c</filename>,
+ routines
+ <function>gimme_pool_size</function> and <function>gimme_number_generations</function>,
+ we have to find a compromise for the parameter settings
+ to satisfy two competing demands:
+ <itemizedlist spacing="compact">
+ <listitem>
+ <para>
+ Optimality of the query plan
+ </para>
+ </listitem>
+ <listitem>
+ <para>
+ Computing time
+ </para>
+ </listitem>
+ </itemizedlist>
+ </para>
+
+ <para>
+ In the current implementation, the fitness of each candidate join
+ sequence is estimated by running the standard planner's join selection
+ and cost estimation code from scratch. To the extent that different
+ candidates use similar sub-sequences of joins, a great deal of work
+ will be repeated. This could be made significantly faster by retaining
+ cost estimates for sub-joins. The problem is to avoid expending
+ unreasonable amounts of memory on retaining that state.
+ </para>
+
+ <para>
+ At a more basic level, it is not clear that solving query optimization
+ with a GA algorithm designed for TSP is appropriate. In the TSP case,
+ the cost associated with any substring (partial tour) is independent
+ of the rest of the tour, but this is certainly not true for query
+ optimization. Thus it is questionable whether edge recombination
+ crossover is the most effective mutation procedure.
+ </para>
+
+ </sect2>
+ </sect1>
+
+ <sect1 id="geqo-biblio">
+ <title>Further Reading</title>
+
+ <para>
+ The following resources contain additional information about
+ genetic algorithms:
+
+ <itemizedlist>
+ <listitem>
+ <para>
+ <ulink url="http://www.aip.de/~ast/EvolCompFAQ/">
+ The Hitch-Hiker's Guide to Evolutionary Computation</ulink>, (FAQ for <ulink
+ url="news://comp.ai.genetic"></ulink>)
+ </para>
+ </listitem>
+
+ <listitem>
+ <para>
+ <ulink url="http://www.red3d.com/cwr/evolve.html">
+ Evolutionary Computation and its application to art and design</ulink>, by
+ Craig Reynolds
+ </para>
+ </listitem>
+
+ <listitem>
+ <para>
+ <xref linkend="ELMA04">
+ </para>
+ </listitem>
+
+ <listitem>
+ <para>
+ <xref linkend="FONG">
+ </para>
+ </listitem>
+ </itemizedlist>
+ </para>
+
+ </sect1>
+</chapter>