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Temporal Data & the Relational Model is written by C.J. Date and published by Morgan Kaufmann. It's available with International Standard Book Number or ISBN identification 1558608559 (ISBN 10) and 9781558608559 (ISBN 13).
A review of relational concepts -- An overview of Tutorial D -- Time and the database -- What is the problem? -- Intervals -- Operators on intervals -- The EXPAND and COLLAPSE operators -- The PACK and UNPACK operators -- Generalizing the relational operators -- Database design -- Integrity constraints 1 : candidate keys and related constraints -- Integrity constraints 2 : general constraints -- Database queries -- Database updates -- Stated times and logged times -- Point and interval types revisited.