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In
number theory Number theory (or arithmetic or higher arithmetic in older usage) is a branch of pure mathematics devoted primarily to the study of the integers and arithmetic function, integer-valued functions. German mathematician Carl Friedrich Gauss (1777 ...
, the study of Diophantine approximation deals with the approximation of
real number In mathematics, a real number is a number that can be used to measure a ''continuous'' one-dimensional quantity such as a distance, duration or temperature. Here, ''continuous'' means that values can have arbitrarily small variations. Every real ...
s by
rational number In mathematics, a rational number is a number that can be expressed as the quotient or fraction of two integers, a numerator and a non-zero denominator . For example, is a rational number, as is every integer (e.g. ). The set of all ration ...
s. It is named after
Diophantus of Alexandria Diophantus of Alexandria ( grc, Διόφαντος ὁ Ἀλεξανδρεύς; born probably sometime between AD 200 and 214; died around the age of 84, probably sometime between AD 284 and 298) was an Alexandrian mathematician, who was the aut ...
. The first problem was to know how well a real number can be approximated by rational numbers. For this problem, a rational number ''a''/''b'' is a "good" approximation of a real number ''α'' if the absolute value of the difference between ''a''/''b'' and ''α'' may not decrease if ''a''/''b'' is replaced by another rational number with a smaller denominator. This problem was solved during the 18th century by means of
continued fraction In mathematics, a continued fraction is an expression obtained through an iterative process of representing a number as the sum of its integer part and the reciprocal of another number, then writing this other number as the sum of its integer ...
s. Knowing the "best" approximations of a given number, the main problem of the field is to find sharp
upper and lower bounds In mathematics, particularly in order theory, an upper bound or majorant of a subset of some preordered set is an element of that is greater than or equal to every element of . Dually, a lower bound or minorant of is defined to be an eleme ...
of the above difference, expressed as a function of the
denominator A fraction (from la, fractus, "broken") represents a part of a whole or, more generally, any number of equal parts. When spoken in everyday English, a fraction describes how many parts of a certain size there are, for example, one-half, eight ...
. It appears that these bounds depend on the nature of the real numbers to be approximated: the lower bound for the approximation of a rational number by another rational number is larger than the lower bound for
algebraic number An algebraic number is a number that is a root of a non-zero polynomial in one variable with integer (or, equivalently, rational) coefficients. For example, the golden ratio, (1 + \sqrt)/2, is an algebraic number, because it is a root of the po ...
s, which is itself larger than the lower bound for all real numbers. Thus a real number that may be better approximated than the bound for algebraic numbers is certainly a
transcendental number In mathematics, a transcendental number is a number that is not algebraic—that is, not the root of a non-zero polynomial of finite degree with rational coefficients. The best known transcendental numbers are and . Though only a few classes ...
. This knowledge enabled
Liouville Joseph Liouville (; ; 24 March 1809 – 8 September 1882) was a French mathematician and engineer. Life and work He was born in Saint-Omer in France on 24 March 1809. His parents were Claude-Joseph Liouville (an army officer) and Thérèse ...
, in 1844, to produce the first explicit transcendental number. Later, the proofs that and '' e'' are transcendental were obtained by a similar method. Diophantine approximations and
transcendental number theory Transcendental number theory is a branch of number theory that investigates transcendental numbers (numbers that are not solutions of any polynomial equation with rational coefficients), in both qualitative and quantitative ways. Transcendence ...
are very close areas that share many theorems and methods. Diophantine approximations also have important applications in the study of Diophantine equations. The 2022
Fields Medal The Fields Medal is a prize awarded to two, three, or four mathematicians under 40 years of age at the International Congress of the International Mathematical Union (IMU), a meeting that takes place every four years. The name of the award ho ...
was awarded to James Maynard for his work on Diophantine approximation.


Best Diophantine approximations of a real number

Given a real number , there are two ways to define a best Diophantine approximation of . For the first definition, the rational number is a ''best Diophantine approximation'' of if :\left, \alpha -\frac\right , < \left, \alpha -\frac\right , , for every rational number different from such that . For the second definition, the above inequality is replaced by :\left, q\alpha -p\ < \left, q^\prime\alpha - p^\prime\. A best approximation for the second definition is also a best approximation for the first one, but the converse is not true in general. The theory of
continued fraction In mathematics, a continued fraction is an expression obtained through an iterative process of representing a number as the sum of its integer part and the reciprocal of another number, then writing this other number as the sum of its integer ...
s allows us to compute the best approximations of a real number: for the second definition, they are the convergents of its expression as a regular continued fraction. For the first definition, one has to consider also the semiconvergents. For example, the constant ''e'' = 2.718281828459045235... has the (regular) continued fraction representation : ;1,2,1,1,4,1,1,6,1,1,8,1,\ldots\; Its best approximations for the second definition are : 3, \tfrac, \tfrac, \tfrac, \tfrac, \ldots\, , while, for the first definition, they are :3, \tfrac, \tfrac, \tfrac, \tfrac, \tfrac, \tfrac, \tfrac, \tfrac, \ldots\, .


Measure of the accuracy of approximations

The obvious measure of the accuracy of a Diophantine approximation of a real number by a rational number is \left, \alpha - \frac\. However, this quantity can always be made arbitrarily small by increasing the absolute values of and ; thus the accuracy of the approximation is usually estimated by comparing this quantity to some function of the denominator , typically a negative power of it. For such a comparison, one may want upper bounds or lower bounds of the accuracy. A lower bound is typically described by a theorem like "for every element of some subset of the real numbers and every rational number , we have \left, \alpha - \frac\>\phi(q) ". In some cases, "every rational number" may be replaced by "all rational numbers except a finite number of them", which amounts to multiplying by some constant depending on . For upper bounds, one has to take into account that not all the "best" Diophantine approximations provided by the convergents may have the desired accuracy. Therefore, the theorems take the form "for every element of some subset of the real numbers, there are infinitely many rational numbers such that \left, \alpha - \frac\<\phi(q) ".


Badly approximable numbers

A badly approximable number is an ''x'' for which there is a positive constant ''c'' such that for all rational ''p''/''q'' we have :\left, \ > \frac \ . The badly approximable numbers are precisely those with bounded partial quotients. Equivalently, a number is badly approximable
if and only if In logic and related fields such as mathematics and philosophy, "if and only if" (shortened as "iff") is a biconditional logical connective between statements, where either both statements are true or both are false. The connective is bicondi ...
its
Markov constant In number theory, specifically in Diophantine approximation theory, the Markov constant M(\alpha) of an irrational number \alpha is the factor for which Dirichlet's approximation theorem can be improved for \alpha. History and motivation C ...
is bounded.


Lower bounds for Diophantine approximations


Approximation of a rational by other rationals

A rational number \alpha =\frac may be obviously and perfectly approximated by \frac = \frac for every positive integer ''i''. If \frac \not= \alpha = \frac\,, we have :\left, \frac - \frac\ = \left, \frac\ \ge \frac, because , aq - bp, is a positive integer and is thus not lower than 1. Thus the accuracy of the approximation is bad relative to irrational numbers (see next sections). It may be remarked that the preceding proof uses a variant of the
pigeonhole principle In mathematics, the pigeonhole principle states that if items are put into containers, with , then at least one container must contain more than one item. For example, if one has three gloves (and none is ambidextrous/reversible), then there mu ...
: a non-negative integer that is not 0 is not smaller than 1. This apparently trivial remark is used in almost every proof of lower bounds for Diophantine approximations, even the most sophisticated ones. In summary, a rational number is perfectly approximated by itself, but is badly approximated by any other rational number.


Approximation of algebraic numbers, Liouville's result

In the 1840s,
Joseph Liouville Joseph Liouville (; ; 24 March 1809 – 8 September 1882) was a French mathematician and engineer. Life and work He was born in Saint-Omer in France on 24 March 1809. His parents were Claude-Joseph Liouville (an army officer) and Thérèse ...
obtained the first lower bound for the approximation of
algebraic number An algebraic number is a number that is a root of a non-zero polynomial in one variable with integer (or, equivalently, rational) coefficients. For example, the golden ratio, (1 + \sqrt)/2, is an algebraic number, because it is a root of the po ...
s: If ''x'' is an irrational algebraic number of degree ''n'' over the rational numbers, then there exists a constant such that : \left, x- \frac \ > \frac holds for all integers ''p'' and ''q'' where . This result allowed him to produce the first proven example of a transcendental number, the
Liouville constant In number theory, a Liouville number is a real number ''x'' with the property that, for every positive integer ''n'', there exists a pair of integers (''p, q'') with ''q'' > 1 such that :0 1 + \log_2(d) ~) no pair of integers ~(\,p,\,q\,)~ exists ...
: \sum_^\infty 10^ = 0.110001000000000000000001000\ldots\,, which does not satisfy Liouville's theorem, whichever degree ''n'' is chosen. This link between Diophantine approximations and transcendental number theory continues to the present day. Many of the proof techniques are shared between the two areas.


Approximation of algebraic numbers, Thue–Siegel–Roth theorem

Over more than a century, there were many efforts to improve Liouville's theorem: every improvement of the bound enables us to prove that more numbers are transcendental. The main improvements are due to , , , and , leading finally to the Thue–Siegel–Roth theorem: If is an irrational algebraic number and a (small) positive real number, then there exists a positive constant such that : \left, x- \frac \>\frac holds for every integer and such that . In some sense, this result is optimal, as the theorem would be false with ''ε'' = 0. This is an immediate consequence of the upper bounds described below.


Simultaneous approximations of algebraic numbers

Subsequently,
Wolfgang M. Schmidt Wolfgang M. Schmidt (born 3 October 1933) is an Austrian mathematician working in the area of number theory. He studied mathematics at the University of Vienna, where he received his PhD, which was supervised by Edmund Hlawka, in 1955. Wolfgang ...
generalized this to the case of simultaneous approximations, proving that: If are algebraic numbers such that are
linearly independent In the theory of vector spaces, a set of vectors is said to be if there is a nontrivial linear combination of the vectors that equals the zero vector. If no such linear combination exists, then the vectors are said to be . These concepts are ...
over the rational numbers and is any given positive real number, then there are only finitely many rational -tuples such that :\left, x_i - \frac\ < q^,\quad i = 1, \ldots, n. Again, this result is optimal in the sense that one may not remove from the exponent.


Effective bounds

All preceding lower bounds are not
effective Effectiveness is the capability of producing a desired result or the ability to produce desired output. When something is deemed effective, it means it has an intended or expected outcome, or produces a deep, vivid impression. Etymology The ori ...
, in the sense that the proofs do not provide any way to compute the constant implied in the statements. This means that one cannot use the results or their proofs to obtain bounds on the size of solutions of related Diophantine equations. However, these techniques and results can often be used to bound the number of solutions of such equations. Nevertheless, a refinement of
Baker's theorem In transcendental number theory, a mathematical discipline, Baker's theorem gives a lower bound for the absolute value of linear combinations of logarithms of algebraic numbers. The result, proved by , subsumed many earlier results in transcendent ...
by Feldman provides an effective bound: if ''x'' is an algebraic number of degree ''n'' over the rational numbers, then there exist effectively computable constants ''c''(''x'') > 0 and 0 < ''d''(''x'') < ''n'' such that :\left, x- \frac \>\frac holds for all rational integers. However, as for every effective version of Baker's theorem, the constants ''d'' and 1/''c'' are so large that this effective result cannot be used in practice.


Upper bounds for Diophantine approximations


General upper bound

The first important result about upper bounds for Diophantine approximations is
Dirichlet's approximation theorem In number theory, Dirichlet's theorem on Diophantine approximation, also called Dirichlet's approximation theorem, states that for any real numbers \alpha and N , with 1 \leq N , there exist integers p and q such that 1 \leq q \leq N and ...
, which implies that, for every irrational number , there are infinitely many fractions \tfrac\; such that : \left, \alpha-\frac\ < \frac\,. This implies immediately that one cannot suppress the in the statement of Thue-Siegel-Roth theorem. Adolf Hurwitz (1891) strengthened this result, proving that for every irrational number , there are infinitely many fractions \tfrac\; such that : \left, \alpha-\frac\ < \frac\,. Therefore, \frac is an upper bound for the Diophantine approximations of any irrational number. The constant in this result may not be further improved without excluding some irrational numbers (see below).
Émile Borel Félix Édouard Justin Émile Borel (; 7 January 1871 – 3 February 1956) was a French mathematician and politician. As a mathematician, he was known for his founding work in the areas of measure theory and probability. Biography Borel was ...
(1903) showed that, in fact, given any irrational number , and given three consecutive convergents of , at least one must satisfy the inequality given in Hurwitz's Theorem.


Equivalent real numbers

Definition: Two real numbers x,y are called ''equivalent'' if there are integers a,b,c,d\; with ad-bc = \pm 1\; such that: :y = \frac\, . So equivalence is defined by an integer
Möbius transformation In geometry and complex analysis, a Möbius transformation of the complex plane is a rational function of the form f(z) = \frac of one complex variable ''z''; here the coefficients ''a'', ''b'', ''c'', ''d'' are complex numbers satisfying ''ad'' ...
on the real numbers, or by a member of the Modular group \text_2^(\Z), the set of invertible 2 × 2 matrices over the integers. Each rational number is equivalent to 0; thus the rational numbers are an
equivalence class In mathematics, when the elements of some set S have a notion of equivalence (formalized as an equivalence relation), then one may naturally split the set S into equivalence classes. These equivalence classes are constructed so that elements a ...
for this relation. The equivalence may be read on the regular continued fraction representation, as shown by the following theorem of
Serret Serret is a surname. Notable people with the surname include: *Dulce María Serret (1898–1989), Cuban pianist and music teacher * Joseph Alfred Serret (1819–1885), French mathematician *Marie-Ernestine Serret Marie-Ernestine Serret (1812– ...
: Theorem: Two irrational numbers ''x'' and ''y'' are equivalent if and only if there exist two positive integers ''h'' and ''k'' such that the regular
continued fraction In mathematics, a continued fraction is an expression obtained through an iterative process of representing a number as the sum of its integer part and the reciprocal of another number, then writing this other number as the sum of its integer ...
representations of ''x'' and ''y'' :\begin x &= _0; u_1, u_2, \ldots, , \\ y &= _0; v_1, v_2, \ldots, , \end satisfy :u_ = v_ for every non negative integer ''i''. Thus, except for a finite initial sequence, equivalent numbers have the same continued fraction representation. Equivalent numbers are approximable to the same degree, in the sense that they have the same
Markov constant In number theory, specifically in Diophantine approximation theory, the Markov constant M(\alpha) of an irrational number \alpha is the factor for which Dirichlet's approximation theorem can be improved for \alpha. History and motivation C ...
.


Lagrange spectrum

As said above, the constant in Borel's theorem may not be improved, as shown by Adolf Hurwitz in 1891. Let \phi = \tfrac be the
golden ratio In mathematics, two quantities are in the golden ratio if their ratio is the same as the ratio of their sum to the larger of the two quantities. Expressed algebraically, for quantities a and b with a > b > 0, where the Greek letter phi ( ...
. Then for any real constant ''c'' with c > \sqrt\; there are only a finite number of rational numbers such that :\left, \phi-\frac\ < \frac. Hence an improvement can only be achieved, if the numbers which are equivalent to \phi are excluded. More precisely: For every irrational number \alpha, which is not equivalent to \phi, there are infinite many fractions \tfrac\; such that : \left, \alpha-\frac\ < \frac. By successive exclusions — next one must exclude the numbers equivalent to \sqrt 2 — of more and more classes of equivalence, the lower bound can be further enlarged. The values which may be generated in this way are ''Lagrange numbers'', which are part of the Lagrange spectrum. They converge to the number 3 and are related to the
Markov number A Markov number or Markoff number is a positive integer ''x'', ''y'' or ''z'' that is part of a solution to the Markov Diophantine equation :x^2 + y^2 + z^2 = 3xyz,\, studied by . The first few Markov numbers are : 1, 2, 5, 13, 29, 34, 89 ...
s.


Khinchin's theorem on metric Diophantine approximation and extensions

Let \psi be a positive real-valued function on positive integers (i.e., a positive sequence) such that q \psi(q) is non-increasing. A real number ''x'' (not necessarily algebraic) is called \psi-''approximable'' if there exist infinitely many rational numbers ''p''/''q'' such that :\left, x- \frac \ < \frac.
Aleksandr Khinchin Aleksandr Yakovlevich Khinchin (russian: Алекса́ндр Я́ковлевич Хи́нчин, french: Alexandre Khintchine; July 19, 1894 – November 18, 1959) was a Soviet mathematician and one of the most significant contributors to th ...
proved in 1926 that if the series \sum_ \psi(q) diverges, then almost every real number (in the sense of Lebesgue measure) is \psi-approximable, and if the series converges, then almost every real number is not \psi-approximable. The circle of ideas surrounding this theorem and its relatives is known as ''metric Diophantine approximation'' or the ''metric theory of Diophantine approximation'' (not to be confused with height "metrics" in
Diophantine geometry In mathematics, Diophantine geometry is the study of Diophantine equations by means of powerful methods in algebraic geometry. By the 20th century it became clear for some mathematicians that methods of algebraic geometry are ideal tools to study ...
) or ''metric number theory''. proved a generalization of Khinchin's result, and posed what is now known as the Duffin–Schaeffer conjecture on the analogue of Khinchin's dichotomy for general, not necessarily decreasing, sequences \psi . proved that a
Hausdorff measure In mathematics, Hausdorff measure is a generalization of the traditional notions of area and volume to non-integer dimensions, specifically fractals and their Hausdorff dimensions. It is a type of outer measure, named for Felix Hausdorff, that as ...
analogue of the Duffin–Schaeffer conjecture is equivalent to the original Duffin–Schaeffer conjecture, which is a priori weaker. In July 2019, Dimitris Koukoulopoulos and James Maynard announced a proof of the conjecture.


Hausdorff dimension of exceptional sets

An important example of a function \psi to which Khinchin's theorem can be applied is the function \psi_c(q) = q^, where ''c'' > 1 is a real number. For this function, the relevant series converges and so Khinchin's theorem tells us that almost every point is not \psi_c-approximable. Thus, the set of numbers which are \psi_c-approximable forms a subset of the real line of Lebesgue measure zero. The Jarník-Besicovitch theorem, due to V. Jarník and A. S. Besicovitch, states that the
Hausdorff dimension In mathematics, Hausdorff dimension is a measure of ''roughness'', or more specifically, fractal dimension, that was first introduced in 1918 by mathematician Felix Hausdorff. For instance, the Hausdorff dimension of a single point is zero, of ...
of this set is equal to 1/c. In particular, the set of numbers which are \psi_c-approximable for some c > 1 (known as the set of ''very well approximable numbers'') has Hausdorff dimension one, while the set of numbers which are \psi_c-approximable for all c > 1 (known as the set of
Liouville number In number theory, a Liouville number is a real number ''x'' with the property that, for every positive integer ''n'', there exists a pair of integers (''p, q'') with ''q'' > 1 such that :0 1 + \log_2(d) ~) no pair of integers ~(\,p,\,q\,)~ exists ...
s) has Hausdorff dimension zero. Another important example is the function \psi_\varepsilon(q) = \varepsilon q^, where \varepsilon > 0 is a real number. For this function, the relevant series diverges and so Khinchin's theorem tells us that almost every number is \psi_\varepsilon-approximable. This is the same as saying that every such number is ''well approximable'', where a number is called well approximable if it is not badly approximable. So an appropriate analogue of the Jarník-Besicovitch theorem should concern the Hausdorff dimension of the set of badly approximable numbers. And indeed, V. Jarník proved that the Hausdorff dimension of this set is equal to one. This result was improved by W. M. Schmidt, who showed that the set of badly approximable numbers is ''incompressible'', meaning that if f_1,f_2,\ldots is a sequence of bi-Lipschitz maps, then the set of numbers ''x'' for which f_1(x),f_2(x),\ldots are all badly approximable has Hausdorff dimension one. Schmidt also generalized Jarník's theorem to higher dimensions, a significant achievement because Jarník's argument is essentially one-dimensional, depending on the apparatus of continued fractions.


Uniform distribution

Another topic that has seen a thorough development is the theory of uniform distribution mod 1. Take a sequence ''a''1, ''a''2, ... of real numbers and consider their ''fractional parts''. That is, more abstractly, look at the sequence in \mathbb/\mathbb, which is a circle. For any interval ''I'' on the circle we look at the proportion of the sequence's elements that lie in it, up to some integer ''N'', and compare it to the proportion of the circumference occupied by ''I''. ''Uniform distribution'' means that in the limit, as ''N'' grows, the proportion of hits on the interval tends to the 'expected' value.
Hermann Weyl Hermann Klaus Hugo Weyl, (; 9 November 1885 – 8 December 1955) was a German mathematician, theoretical physicist and philosopher. Although much of his working life was spent in Zürich, Switzerland, and then Princeton, New Jersey, he is assoc ...
proved a basic result showing that this was equivalent to bounds for exponential sums formed from the sequence. This showed that Diophantine approximation results were closely related to the general problem of cancellation in exponential sums, which occurs throughout
analytic number theory In mathematics, analytic number theory is a branch of number theory that uses methods from mathematical analysis to solve problems about the integers. It is often said to have begun with Peter Gustav Lejeune Dirichlet's 1837 introduction of Diric ...
in the bounding of error terms. Related to uniform distribution is the topic of irregularities of distribution, which is of a
combinatorial Combinatorics is an area of mathematics primarily concerned with counting, both as a means and an end in obtaining results, and certain properties of finite structures. It is closely related to many other areas of mathematics and has many ap ...
nature.


Unsolved problems

There are still simply-stated unsolved problems remaining in Diophantine approximation, for example the '' Littlewood conjecture'' and the '' lonely runner conjecture''. It is also unknown if there are algebraic numbers with unbounded coefficients in their continued fraction expansion.


Recent developments

In his plenary address at the International Mathematical Congress in Kyoto (1990),
Grigory Margulis Grigory Aleksandrovich Margulis (russian: Григо́рий Алекса́ндрович Маргу́лис, first name often given as Gregory, Grigori or Gregori; born February 24, 1946) is a Russian-American mathematician known for his work on ...
outlined a broad program rooted in
ergodic theory Ergodic theory (Greek: ' "work", ' "way") is a branch of mathematics that studies statistical properties of deterministic dynamical systems; it is the study of ergodicity. In this context, statistical properties means properties which are expres ...
that allows one to prove number-theoretic results using the dynamical and ergodic properties of actions of subgroups of
semisimple Lie group In mathematics, a Lie algebra is semisimple if it is a direct sum of modules, direct sum of simple Lie algebras. (A simple Lie algebra is a non-abelian Lie algebra without any non-zero proper Lie algebra#Subalgebras.2C ideals and homomorphisms, i ...
s. The work of D. Kleinbock, G. Margulis and their collaborators demonstrated the power of this novel approach to classical problems in Diophantine approximation. Among its notable successes are the proof of the decades-old
Oppenheim conjecture In Diophantine approximation, the Oppenheim conjecture concerns representations of numbers by real quadratic forms in several variables. It was formulated in 1929 by Alexander Oppenheim and later the conjectured property was further strengthened b ...
by Margulis, with later extensions by Dani and Margulis and Eskin–Margulis–Mozes, and the proof of Baker and Sprindzhuk conjectures in the Diophantine approximations on manifolds by Kleinbock and Margulis. Various generalizations of the above results of
Aleksandr Khinchin Aleksandr Yakovlevich Khinchin (russian: Алекса́ндр Я́ковлевич Хи́нчин, french: Alexandre Khintchine; July 19, 1894 – November 18, 1959) was a Soviet mathematician and one of the most significant contributors to th ...
in metric Diophantine approximation have also been obtained within this framework.


See also

*
Davenport–Schmidt theorem In mathematics, specifically the area of Diophantine approximation, the Davenport–Schmidt theorem tells us how well a certain kind of real number can be approximated by another kind. Specifically it tells us that we can get a good approximation ...
* Duffin–Schaeffer conjecture *
Heilbronn set In mathematics, a Heilbronn set is an infinite set ''S'' of natural numbers for which every real number can be arbitrarily closely approximated by a fraction whose denominator is in ''S''. For any given real number \theta and natural number h, ...
*
Low-discrepancy sequence In mathematics, a low-discrepancy sequence is a sequence with the property that for all values of ''N'', its subsequence ''x''1, ..., ''x'N'' has a low discrepancy. Roughly speaking, the discrepancy of a sequence is low if the proportion of poi ...


Notes


References

* * * * * * * * * * * * * * * * * * * *


External links


Diophantine Approximation: historical survey
From ''Introduction to Diophantine methods'' course by
Michel Waldschmidt Michel Waldschmidt (born June 17, 1946 at Nancy, France) is a French mathematician, specializing in number theory, especially transcendental numbers. Biography Waldschmidt was educated at Lycée Henri Poincaré and the University of Nancy unti ...
. * {{DEFAULTSORT:Diophantine Approximation