This book was planned and written as a text for a two-semester course designed, it is hoped, to overcome, or at least to minimize, some of these difficulties. It has, in fact, been used successfully several times in preliminary form as class notes for a two-semester course intended to lead the student from a reasonable mastery of advanced (multivariable) calculus and a rudimentary knowledge of differentiable manifolds, including some facility in working with the basic tools of manifold theory: tensors, differential forms, Lie and covariant derivatives, multiple integrals, and so on. Although in overall content this book necessarily overlaps the several available excellent books on manifold theory, there are differences in presentation and emphasis which, it is hoped, will make it particularly suitable as an introductory text.
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William Boothby received his Ph.D. at the University of Michigan and was a professor of mathematics for over 40 years. In addition to teaching at Washington University, he taught courses in subjects related to this text at the University of Cordoba (Argentina), the University of Strasbourg (France), and the University of Perugia (Italy).
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