This document discusses quantum channels, which are the generalization of unitary maps to mixed states. Quantum channels can be represented using Kraus operators or a process matrix. State preparation and measurement can both be modeled as quantum channels, with state preparation having a classical input space and measurement having a classical output space. More general measurements correspond to partial measurements that leave some quantum information remaining after the measurement. The Stinespring dilation theorem provides an axiomatic characterization of quantum channels in terms of an isometric embedding into a larger space.