Geodesic
Removal of singularities of smooth mappings
Izvestiya. Mathematics , Tome 5 (1971) no. 3, pp. 615-639.

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For a multilinear differential operator which satisfies the necessary conditions, we establish a method of constructing a smooth function $M\to\mathbf R^q$ which maps no points to the zero operator. 
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M. L. Gromov; Ya. M. Eliashberg. Removal of singularities of smooth mappings. Izvestiya. Mathematics , Tome 5 (1971) no. 3, pp. 615-639. http://geodesic.mathdoc.fr/item/IM2_1971_5_3_a6/

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