al structure provides an easy way to specify these
conditional independencies, and hence to provide a compact
parameterization of the model.
<p>
Note that "temporal Bayesian network" would be a better name than
"dynamic Bayesian network", since
it is assumed that the model structure does not change, but
the term DBN has become entrenched.
We also normally assume that the parameters do not
change, i.e., the model is time-invariant.
However, we can always add extra
hidden nodes to represent the current "regim