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Dive into an extensive lecture exploring the intricacies of BMS (Becker-Manne-Siegert) and related concepts. Gain insights into this fundamental topic in theoretical physics as presented by C Heissenberg. Examine the core principles, applications, and recent developments in BMS theory over the course of nearly two hours. Enhance your understanding of this crucial area of study, which has implications for various branches of physics including general relativity and quantum field theory.