Shape derivative definition and reference?

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I came across this paper Variational Surface Cutting and a key concept introduced is the one of shape derivative. Is there a definition or reference I can use to get a better understanding? Is this related to Riemannian geometry, I own a couple of books on the subject there's no such definition.

Is there a reference you can suggest to look this up, together with main theorems involved in the theory maybe.

Thank you.

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The global ideas are instead of defining the derivative of your functional ( which is defined for example on a domain $\Omega_0 \subset \mathbb{R}^n$ ) in a neighborhood of $\Omega_0$ "which have no sense because the subset of $\mathbb{R}^n$ is not a normed vector space "

you define the neighborhood of $\Omega_0$ as $\Omega= (Id+V)(\Omega_0)$ where $V$ is a vector field and $||V||\le\epsilon$ and by changes of variables you can define the derivative of your functional in the neighborhood of the identity, this idea belongs to Hadamard. I think you can find this notion in any book of shape optimization please look at these references:
https://www.amazon.fr/Shape-Variation-Optimization-Geometrical-Analysis/dp/3037191783 https://books.google.co.ma/books?id=XXvNAQAACAAJ&dq=antoine+henrot&hl=fr&sa=X&ved=0ahUKEwjcmu6i_vfpAhVKRBUIHfMJBeIQ6AEIRjAD https://www.amazon.fr/Shapes-Geometries-Analysis-Differential-Optimization/dp/0898719364