Preface (2nd Edition)

In the second edition (V2 on Arxiv) the theory has been slightly expanded and clarified. The main changes are:

1. A probabilistic theory of threat is now introduced in Chapter 7, which is the only major change.

2. Chapters 7 and 15 of the first edition have been split into two chapters, giving rise to Chapters 8–9 and 17–18. The contents have been slightly expanded in the latter chapter of each pair.

3. New figures (Fig. 5.1 and Fig. 18.1) have been added to improve readability.

4. A Guide to the Reader has been added at the end of Chapter 1.

5. More material on Greek philosophy has been added in Chapters 16, 17, and 18, which have also been slightly streamlined by removing some material and transferring some material to footnotes.

I would further like to thank Mitsuo Kawato, Keith Davis, and Michael Gutmann for additional comments.

      Helsinki, September 2024       Aapo Hyvärinen