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Fig. B.1.

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Schematic drawing of a local surface with its tangent plane, normal vector, and two planes of principal curvatures. The two principal directions align with the intersections of the two planes of principal curvatures with the tangent plane, indicated by the blue lines on the tangent plane (https://en.wikipedia.org/wiki/Principal_curvature#/media/ File:Minimal_surface_curvature_planes-en.svg).

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