Singularities of envelopes of families of submanifolds in ℝ N
Annales scientifiques de l'École Normale Supérieure, Série 4, Tome 16 (1983) no. 2, pp. 173-192. 
@article{ASENS_1983_4_16_2_173_0,
     author = {Carneiro, M\'ario Jorge Dias},
     title = {Singularities of envelopes of families of submanifolds in $\mathbb {R}^N$},
     journal = {Annales scientifiques de l'\'Ecole Normale Sup\'erieure},
     pages = {173--192},
     publisher = {Elsevier},
     volume = {Ser. 4, 16},
     number = {2},
     year = {1983},
     doi = {10.24033/asens.1445},
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     zbl = {0525.58008},
     language = {en},
     url = {http://www.numdam.org/articles/10.24033/asens.1445/}
}
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Carneiro, Mário Jorge Dias. Singularities of envelopes of families of submanifolds in $\mathbb {R}^N$. Annales scientifiques de l'École Normale Supérieure, Série 4, Tome 16 (1983) no. 2, pp. 173-192. doi : 10.24033/asens.1445. http://www.numdam.org/articles/10.24033/asens.1445/

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