, | = 0

D , =

(, ) ( , , (, ))

(, ) , (, )

=0

T=

, , , , ,


= 0,

= 0,

= 0,

= 0,

= 0,

=0

=1

= 1

=1

, with = | min

=
=1

, with = | min 1

, with = 1

=1

where = | = 0

=1

=1

, with = | min

where is the tangent plane of at

2 ,

=
=1

with = |
= 0 ,

= 1

2
=1

= (, , (, ))

0 =

0 =

= , ,

1 <

> 0

=1

where

1 ,
1 =

, ,

 0 0

= 1

+1

, > 0

 , , , (, )