This 1999 book is concerned with Diophantine approximation on smooth manifolds embedded in Euclidean space, and its aim is to develop a coherent body of theory comparable with that which already exists for classical Diophantine approximation. In particular, this book deals with Khintchine-type theorems and with the Hausdorff dimension of the associated null sets. After setting out the necessary background material, the authors give a full discussion...