Abstract
Although the genetic information is encoded in a one-dimensional array of nucleic acid bases, three-dimensional relationships within DNA play a major role in how this information is accessed and utilized by living organisms. Because of the intertwined nature of the DNA two-braid and its extreme length and compaction in the cell, some of the most important three-dimensional relationships in DNA are topological in nature. Topological linkages within the two-braid and between different DNA segments can be described in simple mathematical terms that account for both the twist and the writhe in the double helix. Topoisomerases are ubiquitous enzymes that regulate the topological state of the genetic material by altering either twist or writhe. To do so, these enzymes transiently open the topological system by breaking one or both strands of the two-braid. This article will review the mathematics of DNA topology, describe the different classes of topoisomerases, and discuss the mechanistic basis for their actions in both biological and mathematical terms. Finally, it will discuss how topoisomerases recognize the topological states of their DNA substrates and products and how some of these enzymes distinguish supercoil handedness during catalysis and DNA cleavage. These latter characteristics make topoisomerases well suited for their individual physiological tasks and impact their roles as targets of important anticancer and antibacterial drugs.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
J.D. Watson, F.H.C. Crick, Molecular structure of nucleic acids. Nature 171, 737–738 (1953)
International Human Genome Sequencing Consortium, Finishing the euchromatic sequence of the human genome. Nature 431, 931–945 (2004)
B. Alberts, Molecular Biology of the Cell, 6th edn. (Garland Science, Taylor and Francis Group, New York, NY, 2015)
E. Bianconi, A. Piovesan, F. Facchin, A. Beraudi, R. Casadei, F. Frabetti, L. Vitale, M.C. Pelleri, S. Tassani, F. Piva et al., An estimation of the number of cells in the human body. Ann. Hum. Biol. 40, 463–471 (2013)
R. Sender, S. Fuchs, R. Milo, Revised estimates for the number of human and bacteria cells in the body. PLoS Biol. 14, e1002533 (2016)
J.C. Wang, Cellular roles of DNA topoisomerases: a molecular perspective. Nat. Rev. Mol. Cell Biol. 3, 430–440 (2002)
O. Espeli, K.J. Marians, Untangling intracellular DNA topology. Mol. Microbiol. 52, 925–931 (2004)
A.D. Bates, A. Maxwell, DNA Topology (Oxford University Press, New York, USA, 2005)
J.E. Deweese, M.A. Osheroff, N. Osheroff, DNA topology and topoisomerases: teaching a “knotty” subject. Biochem. Mol. Biol. Educ. 37, 2–10 (2008)
C. Adams, A brief introduction to knot theory from the physical point of view, in Proceedings of Symposia in Applied Mathematics: Applications of Knot Theory, vol. 66, eds. by D. Buck, E. Flapan (American Mathematical Society, Providence, 2009), pp. 1–20
D. Buck DNA topology, in Proceedings of Symposia in Applied Mathematics: Applications of Knot Theory, vol. 66, eds. by D. Buck, E. Flapan (American Mathematical Society, Providence, 2009), pp. 47–80
Z. Liu, R.W. Deibler, H.S. Chan, L. Zechiedrich, The why and how of DNA unlinking. Nucleic Acids Res. 37, 661–671 (2009)
S.H. Chen, N.L. Chan, T.S. Hsieh, New mechanistic and functional insights into DNA topoisomerases. Annu. Rev. Biochem. 82, 139–170 (2013)
Y. Pommier, Y. Sun, S.N. Huang, J.L. Nitiss, Roles of eukaryotic topoisomerases in transcription, replication and genomic stability. Nat. Rev. Mol. Cell Biol. 17, 703–721 (2016)
Y. Seol, K.C. Neuman, The dynamic interplay between DNA topoisomerases and DNA topology. Biophys. Rev. 8, 101–111 (2016)
L. Finzi, W.K. Olson, The emerging role of DNA supercoiling as a dynamic player in genomic structure and function. Biophys. Rev. 8, 1–3 (2016)
F.B. Fuller, The writhing number of a space curve. Proc. Natl. Acad. Sci. USA 68, 815–819 (1971)
W.R. Bauer, F.H. Crick, J.H. White, Supercoiled DNA. Sci. Am. 243, 100–113 (1980)
J.H. White, N.R. Cozzarelli, A simple topological method for describing stereoisomers of DNA catenanes and knots. Proc. Natl. Acad. Sci. USA 81, 3322–3326 (1984)
A.V. Vologodskii, N.R. Cozzarelli, Conformational and thermodynamic properties of supercoiled DNA. Annu. Rev. Biophys. Biomol. Struct. 23, 609–643 (1994)
M.R. Dennis, J.H. Hannay, Geometry of Calugareanu’s theorem. Proc. Roy. Soc. A 461, 3245–3254 (2005)
A.C. Ketron, N. Osheroff, DNA topology and topoisomerases, in Molecular Life Sciences: An Encyclopedic Reference, ed. by E. Bell (Springer, New York, New York, NY, 2014), pp. 1–19
D. Shore, R.L. Baldwin, Energetics of DNA twisting. II. Topoisomer analysis. J. Mol. Biol. 170, 983–1007 (1983)
A. Falaschi, G. Abdurashidova, O. Sandoval, S. Radulescu, G. Biamonti, S. Riva, Molecular and structural transactions at human DNA replication origins. Cell Cycle 6, 1705–1712 (2007)
A. Travers, G. Muskhelishvili, A common topology for bacterial and eukaryotic transcription initiation? EMBO Rep. 8, 147–151 (2007)
J.M. Fortune, N. Osheroff, Topoisomerase II as a target for anticancer drugs: when enzymes stop being nice. Prog. Nucleic Acid Res. Mol. Biol. 64, 221–253 (2000)
A.K. McClendon, N. Osheroff, DNA topoisomerase II, genotoxicity, and cancer. Mutat. Res. 623, 83–97 (2007)
J.B. Leppard, J.J. Champoux, Human DNA topoisomerase I: relaxation, roles, and damage control. Chromosoma 114, 75–85 (2005)
J.J. Champoux, DNA topoisomerases: structure, function, and mechanism. Annu. Rev. Biochem. 70, 369–413 (2001)
A.J. Schoeffler, J.M. Berger, Recent advances in understanding structure-function relationships in the type II topoisomerase mechanism. Biochem. Soc. Trans. 33, 1465–1470 (2005)
C. Levine, H. Hiasa, K.J. Marians, DNA gyrase and topoisomerase IV: biochemical activities, physiological roles during chromosome replication, and drug sensitivities. Biochim. Biophys. Acta 1400, 29–43 (1998)
Y. Pommier, Topoisomerase I inhibitors: camptothecins and beyond. Nat. Rev. Cancer 6, 789–802 (2006)
K.D. Corbett, J.M. Berger, Structure, molecular mechanisms, and evolutionary relationships in DNA topoisomerases. Annu. Rev. Biophys. Biomol. Struct. 33, 95–118 (2004)
P. Forterre, S. Gribaldo, D. Gadelle, M.C. Serre, Origin and evolution of DNA topoisomerases. Biochimie 89, 427–446 (2007)
S.M. Vos, E.M. Tretter, B.H. Schmidt, J.M. Berger, All tangled up: how cells direct, manage and exploit topoisomerase function. Nat. Rev. Mol. Cell Biol. 12, 827–841 (2011)
T. Viard, C.B. de la Tour, Type IA topoisomerases: a simple puzzle? Biochimie 89, 456–467 (2007)
N.M. Baker, R. Rajan, A. Mondragon, Structural studies of type I topoisomerases. Nucleic Acids Res. 37, 693–701 (2009)
Y.C. Tse-Dinh, Bacterial and archeal type I topoisomerases. Biochim. Biophys. Acta 1400, 19–27 (1998)
G. Stoll, O.P. Pietilainen, B. Linder, J. Suvisaari, C. Brosi, W. Hennah, V. Leppa, M. Torniainen, S. Ripatti, S. Ala-Mello et al., Deletion of TOP3β, a component of FMRP-containing mRNPs, contributes to neurodevelopmental disorders. Nat. Neurosci. 16, 1228–1237 (2013)
J.L. Nitiss, Investigating the biological functions of DNA topoisomerases in eukaryotic cells. Biochim. Biophys. Acta 1400, 63–81 (1998)
M.P. Lee, S.D. Brown, A. Chen, T.-S. Hsieh, DNA topoisomerase I is essential in Drosophila melanogaster. Proc. Natl. Acad. Sci. USA 90, 6656–6660 (1993)
S.G. Morham, K.D. Kluckman, N. Voulomanos, O. Smithies, Targeted disruption of the mouse topoisomerase I gene by camptothecin selection. Mol. Cell. Biol. 16, 6804–6809 (1996)
C.R. Lopez, S. Yang, R.W. Deibler, S.A. Ray, J.M. Pennington, R.J. Digate, P.J. Hastings, S.M. Rosenberg, E.L. Zechiedrich, A role for topoisomerase III in a recombination pathway alternative to RuvABC. Mol. Microbiol. 58, 80–101 (2005)
J.E. Deweese, N. Osheroff, The DNA cleavage reaction of topoisomerase II: wolf in sheep’s clothing. Nucleic Acids Res. 37, 738–749 (2009)
J.L. Nitiss, DNA topoisomerase II and its growing repertoire of biological functions. Nat. Rev. Cancer 9, 327–337 (2009)
N.G. Bush, K. Evans-Roberts, A. Maxwell, DNA topoisomerases. EcoSal Plus, 6 (2015)
J.M. Berger, Structure of DNA topoisomerases. Biochim. Biophys. Acta 1400, 3–18 (1998)
J.C. Wang, Moving one DNA double helix through another by a type II DNA topoisomerase: the story of a simple molecular machine. Q. Rev. Biophys. 31, 107–144 (1998)
R. Velez-Cruz, N. Osheroff, DNA topoisomerases: type II, in Encyclopedia of Biological Chemistry, eds. by W.J. Lennarz, M.D. Lane (Elsevier, 2004), pp. 806–811
F.H. Drake, J.P. Zimmerman, F.L. McCabe, H.F. Bartus, S.R. Per, D.M. Sullivan, W.E. Ross, M.R. Mattern, R.K. Johnson, S.T. Crooke, Purification of topoisomerase II from amsacrine-resistant P388 leukemia cells. Evidence for two forms of the enzyme. J. Biol. Chem. 262, 16739–16747 (1987)
F.H. Drake, G.A. Hofmann, H.F. Bartus, M.R. Mattern, S.T. Crooke, C.K. Mirabelli, Biochemical and pharmacological properties of p170 and p180 forms of topoisomerase II. Biochemistry 28, 8154–8160 (1989)
M. Tsai-Pflugfelder, L.F. Liu, A.A. Liu, K.M. Tewey, J. Whang-Peng, T. Knutsen, K. Huebner, C.M. Croce, J.C. Wang, Cloning and sequencing of cDNA encoding human DNA topoisomerase II and localization of the gene to chromosome region 17q21-22. Proc. Natl. Acad. Sci. USA. 85, 7177–7181 (1988)
J.R. Jenkins, P. Ayton, T. Jones, S.L. Davies, D.L. Simmons, A.L. Harris, D. Sheer, I.D. Hickson, Isolation of cDNA clones encoding the beta isozyme of human DNA topoisomerase II and localisation of the gene to chromosome 3p24. Nucleic Acids Res. 20, 5587–5592 (1992)
C.A. Austin, K.L. Marsh, Eukaryotic DNA topoisomerase IIβ. BioEssays 20, 215–226 (1998)
K.B. Tan, T.E. Dorman, K.M. Falls, T.D. Chung, C.K. Mirabelli, S.T. Crooke, J. Mao, Topoisomerase IIα and topoisomerase IIβ genes: characterization and mapping to human chromosomes 17 and 3, respectively. Cancer Res. 52, 231–234 (1992)
A.M. Wilstermann, N. Osheroff, Stabilization of eukaryotic topoisomerase II-DNA cleavage complexes. Curr. Top. Med. Chem. 3, 1349–1364 (2003)
M. Pendleton, R.H. Lindsey Jr., C.A. Felix, D. Grimwade, N. Osheroff, Topoisomerase II and leukemia. Ann. NY Acad. Sci. 1310, 98–110 (2014)
A.C. Gentry, N. Osheroff, DNA topoisomerases: type II, in Encyclopedia of Biological Chemistry, 2nd edn., eds. by W.J. Lennarz, M.D. Lane (Academic Press, Waltham, 2013), pp. 163–168
M.M. Heck, W.N. Hittelman, W.C. Earnshaw, Differential expression of DNA topoisomerases I and II during the eukaryotic cell cycle. Proc. Natl. Acad. Sci. USA 85, 1086–1090 (1988)
R.D. Woessner, M.R. Mattern, C.K. Mirabelli, R.K. Johnson, F.H. Drake, Proliferation- and cell cycle-dependent differences in expression of the 170 kilodalton and 180 kilodalton forms of topoisomerase II in NIH-3T3 cells. Cell Growth Differ. 2, 209–214 (1991)
K. Kimura, M. Saijo, M. Ui, T. Enomoto, Growth state- and cell cycle-dependent fluctuation in the expression of two forms of DNA topoisomerase II and possible specific modification of the higher molecular weight form in the M phase. J. Biol. Chem. 269, 1173–1176 (1994)
P. Grue, A. Grasser, M. Sehested, P.B. Jensen, A. Uhse, T. Straub, W. Ness, F. Boege, Essential mitotic functions of DNA topoisomerase IIα are not adopted by topoisomerase IIβ in human H69 cells. J. Biol. Chem. 273, 33660–33666 (1998)
M.O. Christensen, M.K. Larsen, H.U. Barthelmes, R. Hock, C.L. Andersen, E. Kjeldsen, B.R. Knudsen, O. Westergaard, F. Boege, C. Mielke, Dynamics of human DNA topoisomerases IIα and IIβ in living cells. J. Cell Biol. 157, 31–44 (2002)
B.G. Ju, V.V. Lunyak, V. Perissi, I. Garcia-Bassets, D.W. Rose, C.K. Glass, M.G. Rosenfeld, A topoisomerase IIβ-mediated dsDNA break required for regulated transcription. Science 312, 1798–1802 (2006)
I.G. Cowell, Z. Sondka, K. Smith, K.C. Lee, C.M. Manville, M. Sidorczuk-Lesthuruge, H.A. Rance, K. Padget, G.H. Jackson, N. Adachi et al., Model for MLL translocations in therapy-related leukemia involving topoisomerase IIβ-mediated DNA strand breaks and gene proximity. Proc. Natl. Acad. Sci. USA 109, 8989–8994 (2012)
C. Sissi, M. Palumbo, In front of and behind the replication fork: bacterial type IIA topoisomerases. Cell. Mol. Life Sci. 67, 2001–2024 (2010)
V.E. Anderson, N. Osheroff, Type II topoisomerases as targets for quinolone antibacterials: turning Dr. Jekyll into Mr. Hyde. Curr. Pharm. Des. 7, 337–353 (2001)
J.W. Alexander, G.B. Briggs, On types of knotted curves. Ann. Math. 28, 562–586 (1926)
K. Reidemeister, Elementare begründung der knotentheorie. Abh. Math. Sem. Univ. Hamburg 5, 24–32 (1927)
A. Morrison, N.R. Cozzarelli, Contacts between DNA gyrase and its binding site on DNA: features of symmetry and asymmetry revealed by protection from nucleases. Proc. Natl. Acad. Sci. USA 78, 1416–1420 (1981)
D.A. Koster, A. Crut, S. Shuman, M.A. Bjornsti, N.H. Dekker, Cellular strategies for regulating DNA supercoiling: a single-molecule perspective. Cell 142, 519–530 (2010)
J. Kato, Y. Nishimura, R. Imamura, H. Niki, S. Hiraga, H. Suzuki, New topoisomerase essential for chromosome segregation in E. coli. Cell 63, 393–404 (1990)
H. Hiasa, K.J. Marians, Topoisomerase IV can support oriC DNA replication in vitro. J. Biol. Chem. 269, 16371–16375 (1994)
E.L. Zechiedrich, A.B. Khodursky, S. Bachellier, R. Schneider, D. Chen, D.M. Lilley, N.R. Cozzarelli, Roles of topoisomerases in maintaining steady-state DNA supercoiling in Escherichia coli. J. Biol. Chem. 275, 8103–8113 (2000)
N.J. Crisona, T.R. Strick, D. Bensimon, V. Croquette, N.R. Cozzarelli, Preferential relaxation of positively supercoiled DNA by E. coli topoisomerase IV in single-molecule and ensemble measurements. Genes Dev. 14, 2881–2892 (2000)
X. Wang, R. Reyes-Lamothe, D.J. Sherratt, Modulation of Escherichia coli sister chromosome cohesion by topoisomerase IV. Genes Dev. 22, 2426–2433 (2008)
M.C. Joshi, D. Magnan, T.P. Montminy, M. Lies, N. Stepankiw, D. Bates, Regulation of sister chromosome cohesion by the replication fork tracking protein SeqA. PLoS Genet. 9, e1003673 (2013)
P. Zawadzki, M. Stracy, K. Ginda, K. Zawadzka, C. Lesterlin, A.N. Kapanidis, D.J. Sherratt, The localization and action of topoisomerase IV in Escherichia coli chromosome segregation is coordinated by the SMC complex. MukBEF. Cell Rep. 13, 2587–2596 (2015)
N.P. Higgins, N.R. Cozzarelli, The binding of gyrase to DNA: analysis by retention by nitrocellulose filters. Nucleic Acids Res. 10, 6833–6847 (1982)
K.R. Madden, L. Stewart, J.J. Champoux, Preferential binding of human topoisomerase I to superhelical DNA. EMBO J. 14, 5399–5409 (1995)
N. Osheroff, Eukaryotic topoisomerase II. Characterization of enzyme turnover. J. Biol. Chem. 261, 9944–9950 (1986)
E.L. Zechiedrich, N. Osheroff, Eukaryotic topoisomerases recognize nucleic acid topology by preferentially interacting with DNA crossovers. EMBO J. 9, 4555–4562 (1990)
J. Roca, J.M. Berger, J.C. Wang, On the simultaneous binding of eukaryotic DNA topoisomerase II to a pair of double-stranded DNA helices. J. Biol. Chem. 268, 14250–14255 (1993)
A. Patel, L. Yakovleva, S. Shuman, A. Mondragon, Crystal structure of a bacterial topoisomerase IB in complex with DNA reveals a secondary DNA binding site. Structure 18, 725–733 (2010)
K. Kirkegaard, J.C. Wang, Bacterial DNA topoisomerase I can relax positively supercoiled DNA containing a single-stranded loop. J. Mol. Biol. 185, 625–637 (1985)
J.J. Champoux, R. Dulbecco, An activity from mammalian cells that untwists superhelical DNA–a possible swivel for DNA replication (polyoma-ethidium bromide-mouse-embryo cells-dye binding assay). Proc. Natl. Acad. Sci. USA 69, 143–146 (1972)
R.F. Frohlich, C. Veigaard, F.F. Andersen, A.K. McClendon, A.C. Gentry, A.H. Andersen, N. Osheroff, T. Stevnsner, B.R. Knudsen, Tryptophane-205 of human topoisomerase I is essential for camptothecin inhibition of negative but not positive supercoil removal. Nucleic Acids Res. 35, 6170–6180 (2007)
L. Sari, I. Andricioaei, Rotation of DNA around intact strand in human topoisomerase I implies distinct mechanisms for positive and negative supercoil relaxation. Nucleic Acids Res. 33, 6621–6634 (2005)
G. Charvin, D. Bensimon, V. Croquette, Single-molecule study of DNA unlinking by eukaryotic and prokaryotic type-II topoisomerases. Proc. Natl. Acad. Sci. USA 100, 9820–9825 (2003)
K.C. Neuman, G. Charvin, D. Bensimon, V. Croquette, Mechanisms of chiral discrimination by topoisomerase IV. Proc. Natl. Acad. Sci. USA 106, 6986–6991 (2009)
R.E. Ashley, A. Dittmore, S.A. McPherson, C.L. Turnbough Jr., K.C. Neuman, N. Osheroff, Activities of gyrase and topoisomerase IV on positively supercoiled DNA. Nucleic Acids Res. 45, 9611–9624 (2017)
A.K. McClendon, A.C. Rodriguez, N. Osheroff, Human topoisomerase IIα rapidly relaxes positively supercoiled DNA: implications for enzyme action ahead of replication forks. J. Biol. Chem. 280, 39337–39345 (2005)
Y. Seol, A.C. Gentry, N. Osheroff, K.C. Neuman, Chiral discrimination and writhe-dependent relaxation mechanism of human topoisomerase IIα. J. Biol. Chem. 288, 13695–13703 (2013)
K.D. Corbett, A.J. Schoeffler, N.D. Thomsen, J.M. Berger, The structural basis for substrate specificity in DNA topoisomerase IV. J. Mol. Biol. 351, 545–561 (2005)
A.K. McClendon, A.C. Gentry, J.S. Dickey, M. Brinch, S. Bendsen, A.H. Andersen, N. Osheroff, Bimodal recognition of DNA geometry by human topoisomerase IIα: preferential relaxation of positively supercoiled DNA requires elements in the C-terminal domain. Biochemistry 47, 13169–13178 (2008)
A.K. McClendon, J.S. Dickey, N. Osheroff, Ability of viral topoisomerase II to discern the handedness of supercoiled DNA: bimodal recognition of DNA geometry by type II enzymes. Biochemistry 45, 11674–11680 (2006)
T.R. Strick, V. Croquette, D. Bensimon, Single-molecule analysis of DNA uncoiling by a type II topoisomerase. Nature 404, 901–904 (2000)
R.E. Ashley, T.R. Blower, J.M. Berger, N. Osheroff, Recognition of DNA supercoil geometry by Mycobacterium tuberculosis gyrase. Biochemistry 56, 5440–5448 (2017)
J.L. Nitiss, Targeting DNA topoisomerase II in cancer chemotherapy. Nat. Rev. Cancer 9, 338–350 (2009)
Y. Pommier, DNA topoisomerase I inhibitors: chemistry, biology, and interfacial inhibition. Chem. Rev. 109, 2894–2902 (2009)
Y. Pommier, E. Leo, H. Zhang, C. Marchand, DNA topoisomerases and their poisoning by anticancer and antibacterial drugs. Chem. Biol. 17, 421–433 (2010)
Y. Pommier, C. Marchand, Interfacial inhibitors: targeting macromolecular complexes. Nat. Rev. Drug Discov. 11, 25–36 (2012)
K.J. Aldred, R.J. Kerns, N. Osheroff, Mechanism of quinolone action and resistance. Biochemistry 53, 1565–1574 (2014)
D.C. Hooper, G.A. Jacoby, Mechanisms of drug resistance: quinolone resistance. Ann. N. Y. Acad. Sci. 1354, 12–31 (2015)
A.K. McClendon, N. Osheroff, The geometry of DNA supercoils modulates topoisomerase-mediated DNA cleavage and enzyme response to anticancer drugs. Biochemistry 45, 3040–3050 (2006)
A.C. Gentry, S. Juul, C. Veigaard, B.R. Knudsen, N. Osheroff, The geometry of DNA supercoils modulates the DNA cleavage activity of human topoisomerase I. Nucleic Acids Res. 39, 1014–1022 (2011)
R.H. Lindsey Jr., M. Pendleton, R.E. Ashley, S.L. Mercer, J.E. Deweese, N. Osheroff, Catalytic core of human topoisomerase IIα: insights into enzyme-DNA interactions and drug mechanism. Biochemistry 53, 6595–65602 (2014)
E.G. Gibson, T.R. Blower, M. Cacho, B. Bax, J.M. Berger, N. Osheroff, Mechanism of action of Mycobacterium tuberculosis gyrase inhibitors: a novel class of gyrase poisons. ACS Infect. Dis. 4, 1211–1222 (2018)
Acknowledgements
Work in the senior author’s laboratory was supported by National Institutes of Health grants R01 GM033944 and R01 GM126363 and US Veterans Administration Merit Review award I01 Bx002198. R.E.A. was supported by pre-doctoral fellowship DGE-0909667 from the National Science Foundation. We are grateful to Elizabeth G. Gibson for critical reading of the manuscript.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Ashley, R.E., Osheroff, N. (2019). Regulation of DNA Topology by Topoisomerases: Mathematics at the Molecular Level. In: Adams, C., et al. Knots, Low-Dimensional Topology and Applications. KNOTS16 2016. Springer Proceedings in Mathematics & Statistics, vol 284. Springer, Cham. https://doi.org/10.1007/978-3-030-16031-9_20
Download citation
DOI: https://doi.org/10.1007/978-3-030-16031-9_20
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-16030-2
Online ISBN: 978-3-030-16031-9
eBook Packages: Mathematics and StatisticsMathematics and Statistics (R0)