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This book grew out of a series of lectures given at the Mathematics Department of Kyushu University in the Fall 2006, within the support of the 21st Century COE Program (2003-2007) "Development of Dynamical Mathematics with High Fu- tionality" (Program Leader: prof. Mitsuhiro Nakao). It was initially published as the Kyushu University COE Lecture Note n- ber 8 (COE Lecture Note, 8. Kyushu University, The 21st Century COE Program "DMHF," Fukuoka, 2008. vi+234 pp.), and in the present form is an extended v- sion of it (in particular, I have added a section dedicated to the Maslov index). The...