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xx<strong>Applied</strong> <strong>Diff</strong>erential <strong>Geom</strong>etry: A Modern Introduction3. <strong>Applied</strong> Manifold <strong>Geom</strong>etry 1373.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 1373.1.1 Intuition behind Einstein’s <strong>Geom</strong>etrodynamics . . 1383.1.2 Einstein’s <strong>Geom</strong>etrodynamics in Brief . . . . . . . 1423.2 Intuition Behind the Manifold Concept . . . . . . . . . . 1433.3 Definition of a <strong>Diff</strong>erentiable Manifold . . . . . . . . . . . 1453.4 Smooth Maps between Smooth Manifolds . . . . . . . . . 1473.4.1 Intuition behind Topological Invariants ofManifolds . . . . . . . . . . . . . . . . . . . . . . 1483.5 (Co)Tangent Bundles of Smooth Manifolds . . . . . . . . 1503.5.1 Tangent Bundle and Lagrangian Dynamics . . . . 1503.5.1.1 Intuition behind a Tangent Bundle . . . 1503.5.1.2 Definition of a Tangent Bundle . . . . . 1503.5.2 Cotangent Bundle and Hamiltonian Dynamics . . 1533.5.2.1 Definition of a Cotangent Bundle . . . . 1533.5.3 Application: Command/Control in Human–Robot Interactions . . . . . . . . . . . . . . . . . 1543.5.4 Application: Generalized BidirectionalAssociative Memory . . . . . . . . . . . . . . . . . 1573.6 Tensor Fields on Smooth Manifolds . . . . . . . . . . . . 1633.6.1 Tensor Bundle . . . . . . . . . . . . . . . . . . . . 1633.6.1.1 Pull–Back and Push–Forward . . . . . . 1643.6.1.2 Dynamical Evolution and Flow . . . . . 1653.6.1.3 Vector–Fields and Their Flows . . . . . 1673.6.1.4 Vector–Fields on M . . . . . . . . . . . 1673.6.1.5 Integral Curves as DynamicalTrajectories . . . . . . . . . . . . . . . . 1683.6.1.6 Dynamical Flows on M . . . . . . . . . 1723.6.1.7 Categories of ODEs . . . . . . . . . . . 1733.6.2 <strong>Diff</strong>erential Forms on Smooth Manifolds . . . . . 1743.6.2.1 1−Forms on M . . . . . . . . . . . . . . 1743.6.2.2 k−Forms on M . . . . . . . . . . . . . . 1763.6.2.3 Exterior <strong>Diff</strong>erential Systems . . . . . . 1793.6.3 Exterior Derivative and (Co)Homology . . . . . . 1803.6.3.1 Intuition behind Cohomology . . . . . . 1823.6.3.2 Intuition behind Homology . . . . . . . 1833.6.3.3 De Rham Complex and HomotopyOperators . . . . . . . . . . . . . . . . . 185

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