Replaced spaces in figure names with underscores.

Figure names were causing jupyter notebooks to fail to embed figures (at least on linux systems). Replacement of white space with underscores in the figure names to make them nix friendlier.
elegant-scipy · Dec 13, 2019 · 5e3fe1b · 5e3fe1b
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diff --git a/figures/FMCW Block.png → figures/FMCW_Block.png b/figures/FMCW Block.png → figures/FMCW_Block.png
diff --git a/figures/FMCW Block.svg → figures/FMCW_Block.svg b/figures/FMCW Block.svg → figures/FMCW_Block.svg
diff --git a/figures/FMCW waveform.png → figures/FMCW_waveform.png b/figures/FMCW waveform.png → figures/FMCW_waveform.png
diff --git a/figures/FMCW waveform.svg → figures/FMCW_waveform.svg b/figures/FMCW waveform.svg → figures/FMCW_waveform.svg
diff --git a/figures/Unit circle samples.png → figures/unit_circle_samples.png b/figures/Unit circle samples.png → figures/unit_circle_samples.png
diff --git a/figures/Unit circle samples.svg → figures/unit_circle_samples.svg b/figures/Unit circle samples.svg → figures/unit_circle_samples.svg
diff --git a/markdown/ch4.markdown b/markdown/ch4.markdown
@@ -598,7 +598,7 @@ the `fftshift` function.
 > century by the IEEE journal Computing in Science & Engineering in the
 > year $2000$.
 >
-> ![Unit circle samples](../figures/Unit circle samples.png)
+> ![Unit circle samples](../figures/unit_circle_samples.png)
 
 [^odd_N]: We leave it as an exercise for the reader to picture the
           situation for $N$ odd.  In this chapter, all examples use
@@ -869,7 +869,7 @@ discards any high frequencies).
 
 > **A simple FMCW radar system** {.callout}
 >
-> ![The block diagram of a simple FMCW radar system](../figures/FMCW Block.png)
+> ![The block diagram of a simple FMCW radar system](../figures/FMCW_Block.png)
 >
 > A block diagram of a simple FMCW radar that uses separate
 > transmit and receive antennas is shown above. The radar consists of a waveform generator
@@ -961,7 +961,7 @@ proportional to the range to the target.
 -->
 
 ![The frequency relationships in an FMCW radar with
- linear frequency modulation](../figures/FMCW waveform.png)
+ linear frequency modulation](../figures/FMCW_waveform.png)
 
 To start off, we'll generate some synthetic signals, after which we'll
 turn our focus to the output of an actual radar.