Department of Chemical and Biomolecular Engineering, University of California, Berkeley, California 94720, United States ...

Let $U$ open in $\bbR^{d+m}$. $\Phi:U\to \bbR^m$ is a $C^1$ map such that $\Phi'(p)$ is surjective (which means columns of the $m\times (d+m)$ matrix of $\Phi'(p ...