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Purpose

This paper provides a self-contained introduction to the mathematical aspects of the topological derivative.

Design/methodology/approach

Full justifications are given on simple model problems following a modern approach based on the averaged adjoint state technique. Extensions are discussed in relation with the literature on the field.

Findings

Closed expressions of topological derivatives are obtained and commented.

Originality/value

Several cases are covered in a unified and didactic presentation. Some elements of proof are novel.

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