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The graphical interface of Tiger is to a large degree self-explanatory.

You are encouraged to start up the applet and start out exploring it. The applet is organized as a collection of books. Each book introduces an aspect of ATSQL (and SQL).

A more formal study of ATSQL can be found in the paper Seamless Integration of Time into SQL [.ps, .pdf]. There is also a manual [.ps, pdf] that helps you to get started.