Hierarchy of chaotic maps with an invariant measure and their   compositions
  We give a hierarchy of many-parameter families of maps of the interval [0,1] with an invariant measure and using the measure, we calculate Kolmogorov--Sinai entropy of these maps analytically. In contrary to the usual one-dimensional maps these maps do not possess period doubling or period-n-tupling cascade bifurcation to chaos, but they have single fixed point attractor at certain region of parameters space, where they bifurcate directly to chaos without having period-n-tupling scenario exactly at certain values of the parameters. 
M. A. Jafarizadeh, S. Behnia