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This lecture covers the theory of waveguides, focusing on rectangular and circular waveguides. It explains the TE and TM modes, their cutoff frequencies, and field distributions. The lecture also delves into guided propagation, dispersion diagrams, and group velocities in waveguides. Bessel functions are introduced to analyze the field distributions in circular waveguides. The presentation concludes with a detailed discussion on the dominant and higher order modes, including their cutoff frequencies and propagation constants.