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Acknowledgments

I want to warmly thank those who helped me, in one way or another, in this enterprise. To Professor Jay Jorgenson, for his friendship and encouragement, and for accepting being this work’s supervisor; to my student Juan Fernando García, for reading the entire book to make sure that there were not any logical mistakes, and for transforming my sketchy pictures into the nice and detailed pictures illustrating this book; to my colleague, María Eugenia Puerta, for her important suggestions as to how to make the treatment of certain matters more accesible to the readers; to my colleague Gabriel Loaiza, for suggesting interesting new exercises; to my students of Mathematical Engineering and Physical Engineering, whose comments have helped me over the years to improve my explanations; and to Universidad EAFIT, for allowing me to dedicate the second semester of 2016 to the writing of this book.