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Let f : M → N {\displaystyle f:M\to N} be a smooth map of differential manifolds. A point m ∈ M {\displaystyle m\in M} is termed a regular point, or a point of submersion of f {\displaystyle f} , if the induced map ( d f ) m : T m M → T f ( m ) N {\displaystyle (df)_{m}:T_{m}M\to T_{f(m)}N} , is surjective.
