Inclusion of many exercises, open problems, and conjectures enables the reader to enhance their understanding of the subject. The use of this text for the classroom is versatile and depends on the course level and choices made by the instructor. Suggestions for variations in course coverage are included in the Preface. The lecture style and array of topical coverage are hoped to inspire independent research and applications of the methods described in the book to other disciplines of science. An introduction to the topology of 3-dimensional manifolds is included in Appendices A and B. Lastly, Appendix C includes a Table of Knots.
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