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Temporal Past Operator X - Substitution of X

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(2017.08)

I have been looking into the Temporal Past operator section in Chapter 7 Slides and I could not figure out How this temporal past operator X(with arrow) was substituted like GFXA = GFa, is there a formula like Xa=a(X with arrow)? If so where exactly in the slides are such formulas shown?

in * TF "Emb. Sys. and Rob." by (1k points)

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See slide 74 of the temporal  logic chapter where the translations of the past operators are described.
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