I am not well versed in Predicate calculus and maybe, therefore, I am having problems writing queries in Tuple Relational Calculus and sometimes also in interpreting them.

I want to know if there is any specific and definite procedure of translating the Relational Algebra expressions into the Tuple Relational Calculus expressions and vice-versa.

Or if you could get me some names of good books/lectures on predicate calculus.

Any guidance or reference would be highly helpful for me.