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Introduction to smooth manifolds. New York: Springer. ISBN 0-387-95448-1. A textbook on manifold theory. See also the same author's textbooks on topological manifolds (a lower level of structure) and Riemannian geometry (a higher level of structure).
The prime decomposition theorem for 3-manifolds states that every compact, orientable 3-manifold is the connected sum of a unique (up to homeomorphism) collection of prime 3-manifolds. A manifold is prime if it cannot be presented as a connected sum of more than one manifold, none of which is the sphere of the same dimension.
Some illustrative examples of non-orientable manifolds include: (1) the Möbius strip, which is a manifold with boundary, (2) the Klein bottle, which must intersect itself in its 3-space representation, and (3) the real projective plane, which arises naturally in geometry.
Riemannian geometry is the branch of differential geometry that studies Riemannian manifolds, defined as smooth manifolds with a Riemannian metric (an inner product on the tangent space at each point that varies smoothly from point to point). This gives, in particular, local notions of angle, length of curves, surface area and volume.
Let M be a smooth manifold. A (smooth) singular k-simplex in M is defined as a smooth map from the standard simplex in R k to M. The group C k (M, Z) of singular k-chains on M is defined to be the free abelian group on the set of singular k-simplices in M. These groups, together with the boundary map, ∂, define a chain complex.
A topological space X is a 3-manifold if every point in X has a neighbourhood that is homeomorphic to Euclidean 3-space. The topological, piecewise-linear, and smooth categories are all equivalent in three dimensions, so little distinction is made in whether we are dealing with say, topological 3-manifolds, or smooth 3-manifolds.
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