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\begin{solution}{4}
See figure \ref{fig:9.4}.
\begin{figure*}[p]
\centering
\begin{tikzpicture}[->, node distance=2cm]
\node[state,initial] (q0) {$q_0$};
\node[state] (q1) [right=of q0] {$q_1$};
\node[state] (q2) [right=of q1] {$q_2$};
\node[state] (q3) [right=of q2] {$q_3$};
\node[state] (q4) [right=of q3] {$q_4$};
\node[state] (q5) [right=of q4] {$q_5$};
\draw (q0) -- node[above] {$B/B,R$} ++ (q1);
\draw (q1) -- node[above] {$a/a,R$} ++ (q2);
\draw (q2) -- node[above] {$a/a,R$} ++ (q3);
\draw (q3) -- node[above] {$a/a,R$} ++ (q4);
\draw (q4) -- node[above] {$c/c,L$} ++ (q5);
\draw (q1) edge[loop above] node[above,align=left] {$B/B,R$\\$b/b,R$\\$c/c,R$} (q1);
\draw (q2) edge[bend left] node[below,align=left] {$B/B,R$\\$b/b,R$\\$c/c,R$} (q1);
\draw (q3) edge[bend right] node[above,align=left] {$B/B,R$\\$b/b,R$\\$c/c,R$} (q1);
\draw (q4) edge[bend left] node[below,align=left] {$B/B,R$\\$b/b,R$} (q1);
\draw (q4) edge[loop above] node[above,align=left] {$a/a,R$} (q4);
\draw (q5) edge[loop above] node[above,align=left] {$a/a,L$\\$b/b,L$\\$c/c,L$} (q5);
\end{tikzpicture}
\caption{The state machine of exercise 9.4.}
\label{fig:9.4}
\end{figure*}
\end{solution}
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