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Mathematics for physics and engineering are traditionally covered in textbooks such as "Mathematical Physics" or "Applied Mathematics". This book differs from those on pure mathematics and differs from lexicographic collections of methods for solving specific problems.Insetad it emphasizes the mathematical concepts underlying manifold physical phenomena. §The readers will not only acquire knowledges required in actual applications, but also acquire the minimum "mathematical skills" necessary to study physics.§Making the text coherent and self-contained, it states nd proves a large number of theorems, lemmas, and corollaries that are relevant to physics and other related sciences. Extensive details on mathematical manipulations are provided.§Each chapter contains a number of examples and practical exercises. Such a large number of examples provides the balance between mathematical formalisms and their applications. Reflecting current interests, several new topics concerning developing fields, such as the mathematical background of quantum information theory and topology for the knot theory, are included.